commit 45ca6c0fe456a483f6d4ab6e42709d343818f0dc Author: meifannao Date: Wed Apr 12 11:02:14 2023 +0800 Initial diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..433c707 --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,62 @@ +cmake_minimum_required(VERSION 3.5) +project(nav2_gradient_costmap_plugin) + +set(lib_name ${PROJECT_NAME}_core) + +# === Environment === + +# Default to C99 +if(NOT CMAKE_C_STANDARD) + set(CMAKE_C_STANDARD 99) +endif() + +# Default to C++14 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 14) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# === Dependencies === + +find_package(ament_cmake REQUIRED) +find_package(rclcpp REQUIRED) +find_package(nav2_costmap_2d REQUIRED) +find_package(pluginlib REQUIRED) +find_package(std_msgs REQUIRED) +find_package(geometry_msgs REQUIRED) + +add_executable(talker src/publisher_function.cpp) +ament_target_dependencies(talker rclcpp geometry_msgs) + +set(dep_pkgs + rclcpp + nav2_costmap_2d + pluginlib) + +# === Build === + +add_library(${lib_name} SHARED + src/gradient_layer.cpp) +include_directories(include) + +# === Installation === + +install(TARGETS ${lib_name} + DESTINATION lib) + +install(TARGETS + talker + DESTINATION lib/${PROJECT_NAME}) + + +# === Ament work === + +# pluginlib_export_plugin_description_file() installs gradient_layer.xml +# file into "share" directory and sets ament indexes for it. +# This allows the plugin to be discovered as a plugin of required type. +pluginlib_export_plugin_description_file(nav2_costmap_2d gradient_layer.xml) +ament_target_dependencies(${lib_name} ${dep_pkgs}) +ament_package() diff --git a/build/.built_by b/build/.built_by new file mode 100644 index 0000000..06e74ac --- /dev/null +++ b/build/.built_by @@ -0,0 +1 @@ +colcon diff --git a/build/COLCON_IGNORE b/build/COLCON_IGNORE new file mode 100644 index 0000000..e69de29 diff --git a/build/nav2_gradient_costmap_plugin/CMakeCache.txt b/build/nav2_gradient_costmap_plugin/CMakeCache.txt new file mode 100644 index 0000000..5f027b7 --- /dev/null +++ b/build/nav2_gradient_costmap_plugin/CMakeCache.txt @@ -0,0 +1,818 @@ +# This is the CMakeCache file. +# For build in directory: /home/user/work/nav2_plugin/build/nav2_gradient_costmap_plugin +# It was generated by CMake: /usr/bin/cmake +# You can edit this file to change values found and used by cmake. +# If you do not want to change any of the values, simply exit the editor. +# If you do want to change a value, simply edit, save, and exit the editor. +# The syntax for the file is as follows: +# KEY:TYPE=VALUE +# KEY is the name of a variable in the cache. +# TYPE is a hint to GUIs for the type of VALUE, DO NOT EDIT TYPE!. +# VALUE is the current value for the KEY. + +######################## +# EXTERNAL cache entries +######################## + +//Generate environment files in the CMAKE_INSTALL_PREFIX +AMENT_CMAKE_ENVIRONMENT_GENERATION:BOOL=OFF + +//Generate environment files in the package share folder +AMENT_CMAKE_ENVIRONMENT_PACKAGE_GENERATION:BOOL=ON + +//Generate marker file containing the parent prefix path +AMENT_CMAKE_ENVIRONMENT_PARENT_PREFIX_PATH_GENERATION:BOOL=ON + +//Replace the CMake install command with a custom implementation +// using symlinks instead of copying resources +AMENT_CMAKE_SYMLINK_INSTALL:BOOL=OFF + +//Generate an uninstall target to revert the effects of the install +// step +AMENT_CMAKE_UNINSTALL_TARGET:BOOL=ON + +//The path where test results are generated +AMENT_TEST_RESULTS_DIR:PATH=/home/user/work/nav2_plugin/build/nav2_gradient_costmap_plugin/test_results + +//Build the testing tree. +BUILD_TESTING:BOOL=ON + +//Path to a program. +CMAKE_ADDR2LINE:FILEPATH=/usr/bin/addr2line + +//Path to a program. +CMAKE_AR:FILEPATH=/usr/bin/ar + +//Choose the type of build, options are: None Debug Release RelWithDebInfo +// MinSizeRel ... 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the linker during DEBUG builds. +CMAKE_EXE_LINKER_FLAGS_DEBUG:STRING= + +//Flags used by the linker during MINSIZEREL builds. +CMAKE_EXE_LINKER_FLAGS_MINSIZEREL:STRING= + +//Flags used by the linker during RELEASE builds. +CMAKE_EXE_LINKER_FLAGS_RELEASE:STRING= + +//Flags used by the linker during RELWITHDEBINFO builds. +CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO:STRING= + +//Enable/Disable output of compile commands during generation. +CMAKE_EXPORT_COMPILE_COMMANDS:BOOL= + +//Install path prefix, prepended onto install directories. +CMAKE_INSTALL_PREFIX:PATH=/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin + +//Path to a program. +CMAKE_LINKER:FILEPATH=/usr/bin/ld + +//Path to a program. +CMAKE_MAKE_PROGRAM:FILEPATH=/usr/bin/gmake + +//Flags used by the linker during the creation of modules during +// all build types. +CMAKE_MODULE_LINKER_FLAGS:STRING= + +//Flags used by the linker during the creation of modules during +// DEBUG builds. 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the linker during the creation of shared libraries +// during all build types. +CMAKE_SHARED_LINKER_FLAGS:STRING= + +//Flags used by the linker during the creation of shared libraries +// during DEBUG builds. +CMAKE_SHARED_LINKER_FLAGS_DEBUG:STRING= + +//Flags used by the linker during the creation of shared libraries +// during MINSIZEREL builds. +CMAKE_SHARED_LINKER_FLAGS_MINSIZEREL:STRING= + +//Flags used by the linker during the creation of shared libraries +// during RELEASE builds. +CMAKE_SHARED_LINKER_FLAGS_RELEASE:STRING= + +//Flags used by the linker during the creation of shared libraries +// during RELWITHDEBINFO builds. +CMAKE_SHARED_LINKER_FLAGS_RELWITHDEBINFO:STRING= + +//If set, runtime paths are not added when installing shared libraries, +// but are added when building. +CMAKE_SKIP_INSTALL_RPATH:BOOL=NO + +//If set, runtime paths are not added when using shared libraries. +CMAKE_SKIP_RPATH:BOOL=NO + +//Flags used by the linker during the creation of static libraries 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This is useful for debugging only. With Visual +// Studio IDE projects all commands are done without /nologo. +CMAKE_VERBOSE_MAKEFILE:BOOL=FALSE + +//The directory containing a CMake configuration file for Eigen3. +Eigen3_DIR:PATH=/usr/share/eigen3/cmake + +//Path to a library. +FastCDR_LIBRARY_DEBUG:FILEPATH=FastCDR_LIBRARY_DEBUG-NOTFOUND + +//Path to a library. +FastCDR_LIBRARY_RELEASE:FILEPATH=/opt/ros/humble/lib/libfastcdr.so + +//Path to a file. +FastRTPS_INCLUDE_DIR:PATH=/opt/ros/humble/include + +//Path to a library. +FastRTPS_LIBRARY_DEBUG:FILEPATH=FastRTPS_LIBRARY_DEBUG-NOTFOUND + +//Path to a library. +FastRTPS_LIBRARY_RELEASE:FILEPATH=/opt/ros/humble/lib/libfastrtps.so + +//Path to a library. +OPENSSL_CRYPTO_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libcrypto.so + +//Path to a file. +OPENSSL_INCLUDE_DIR:PATH=/usr/include + +//Path to a library. +OPENSSL_SSL_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libssl.so + +//Arguments to supply to pkg-config +PKG_CONFIG_ARGN:STRING= + +//pkg-config executable +PKG_CONFIG_EXECUTABLE:FILEPATH=/usr/bin/pkg-config + +//Name of the computer/site where compile is being run +SITE:STRING=ubuntu22 + +//Path to a file. +TINYXML2_INCLUDE_DIR:PATH=/usr/include + +//Path to a library. +TINYXML2_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libtinyxml2.so + +//The directory containing a CMake configuration file for TinyXML2. +TinyXML2_DIR:PATH=TinyXML2_DIR-NOTFOUND + +//Path to a library. +_lib:FILEPATH=/opt/ros/humble/lib/libvisualization_msgs__rosidl_typesupport_fastrtps_cpp.so + +//The directory containing a CMake configuration file for action_msgs. +action_msgs_DIR:PATH=/opt/ros/humble/share/action_msgs/cmake + +//The directory containing a CMake configuration file for ament_cmake. +ament_cmake_DIR:PATH=/opt/ros/humble/share/ament_cmake/cmake + +//The directory containing a CMake configuration file for ament_cmake_core. +ament_cmake_core_DIR:PATH=/opt/ros/humble/share/ament_cmake_core/cmake + +//The directory containing a CMake configuration file for ament_cmake_export_definitions. +ament_cmake_export_definitions_DIR:PATH=/opt/ros/humble/share/ament_cmake_export_definitions/cmake + +//The directory containing a CMake configuration file for ament_cmake_export_dependencies. +ament_cmake_export_dependencies_DIR:PATH=/opt/ros/humble/share/ament_cmake_export_dependencies/cmake + +//The directory containing a CMake configuration file for ament_cmake_export_include_directories. +ament_cmake_export_include_directories_DIR:PATH=/opt/ros/humble/share/ament_cmake_export_include_directories/cmake + +//The directory containing a CMake configuration file for ament_cmake_export_interfaces. +ament_cmake_export_interfaces_DIR:PATH=/opt/ros/humble/share/ament_cmake_export_interfaces/cmake + +//The directory containing a CMake configuration file for ament_cmake_export_libraries. +ament_cmake_export_libraries_DIR:PATH=/opt/ros/humble/share/ament_cmake_export_libraries/cmake + +//The directory containing a CMake configuration file for ament_cmake_export_link_flags. +ament_cmake_export_link_flags_DIR:PATH=/opt/ros/humble/share/ament_cmake_export_link_flags/cmake + +//The directory containing a CMake configuration file for ament_cmake_export_targets. +ament_cmake_export_targets_DIR:PATH=/opt/ros/humble/share/ament_cmake_export_targets/cmake + +//The directory containing a CMake configuration file for ament_cmake_gen_version_h. +ament_cmake_gen_version_h_DIR:PATH=/opt/ros/humble/share/ament_cmake_gen_version_h/cmake + +//The directory containing a CMake configuration file for ament_cmake_include_directories. +ament_cmake_include_directories_DIR:PATH=/opt/ros/humble/share/ament_cmake_include_directories/cmake + +//The directory containing a CMake configuration file for ament_cmake_libraries. +ament_cmake_libraries_DIR:PATH=/opt/ros/humble/share/ament_cmake_libraries/cmake + +//The directory containing a CMake configuration file for ament_cmake_python. +ament_cmake_python_DIR:PATH=/opt/ros/humble/share/ament_cmake_python/cmake + +//The directory containing a CMake configuration file for ament_cmake_target_dependencies. +ament_cmake_target_dependencies_DIR:PATH=/opt/ros/humble/share/ament_cmake_target_dependencies/cmake + +//The directory containing a CMake configuration file for ament_cmake_test. +ament_cmake_test_DIR:PATH=/opt/ros/humble/share/ament_cmake_test/cmake + +//The directory containing a CMake configuration file for ament_cmake_version. +ament_cmake_version_DIR:PATH=/opt/ros/humble/share/ament_cmake_version/cmake + +//The directory containing a CMake configuration file for ament_index_cpp. +ament_index_cpp_DIR:PATH=/opt/ros/humble/share/ament_index_cpp/cmake + +//The directory containing a CMake configuration file for angles. +angles_DIR:PATH=/opt/ros/humble/share/angles/cmake + +//The directory containing a CMake configuration file for bond. +bond_DIR:PATH=/opt/ros/humble/share/bond/cmake + +//The directory containing a CMake configuration file for bondcpp. +bondcpp_DIR:PATH=/opt/ros/humble/share/bondcpp/cmake + +//The directory containing a CMake configuration file for builtin_interfaces. +builtin_interfaces_DIR:PATH=/opt/ros/humble/share/builtin_interfaces/cmake + +//The directory containing a CMake configuration file for class_loader. +class_loader_DIR:PATH=/opt/ros/humble/share/class_loader/cmake + +//The directory containing a CMake configuration file for composition_interfaces. +composition_interfaces_DIR:PATH=/opt/ros/humble/share/composition_interfaces/cmake + +//The directory containing a CMake configuration file for console_bridge. +console_bridge_DIR:PATH=/usr/lib/x86_64-linux-gnu/console_bridge/cmake + +//The directory containing a CMake configuration file for eigen3_cmake_module. +eigen3_cmake_module_DIR:PATH=/opt/ros/humble/share/eigen3_cmake_module/cmake + +//The directory containing a CMake configuration file for fastcdr. +fastcdr_DIR:PATH=/opt/ros/humble/lib/cmake/fastcdr + +//The 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+ +//The directory containing a CMake configuration file for nav2_msgs. +nav2_msgs_DIR:PATH=/opt/ros/humble/share/nav2_msgs/cmake + +//The directory containing a CMake configuration file for nav2_util. +nav2_util_DIR:PATH=/opt/ros/humble/share/nav2_util/cmake + +//The directory containing a CMake configuration file for nav2_voxel_grid. +nav2_voxel_grid_DIR:PATH=/opt/ros/humble/share/nav2_voxel_grid/cmake + +//The directory containing a CMake configuration file for nav_msgs. +nav_msgs_DIR:PATH=/opt/ros/humble/share/nav_msgs/cmake + +//The directory containing a CMake configuration file for orocos_kdl. +orocos_kdl_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/orocos_kdl + +//Path to a library. +orocos_kdl_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/liborocos-kdl.so + +//The directory containing a CMake configuration file for orocos_kdl_vendor. +orocos_kdl_vendor_DIR:PATH=/opt/ros/humble/share/orocos_kdl_vendor/cmake + +//Path to a library. 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"Bruce" + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__ARMCC_VERSION) && !defined(__clang__) +# define COMPILER_ID "ARMCC" +#if __ARMCC_VERSION >= 1000000 + /* __ARMCC_VERSION = VRRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#else + /* __ARMCC_VERSION = VRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#endif + + +#elif defined(__clang__) && defined(__apple_build_version__) +# define COMPILER_ID "AppleClang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) + +#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION) +# define COMPILER_ID "ARMClang" + # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION % 10000) +# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION) + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__GNUC__) +# define COMPILER_ID "GNU" +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# if defined(__GNUC_MINOR__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" +#if defined(__VISUALDSPVERSION__) + /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ +# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) +# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" +# if defined(__VER__) && defined(__ICCARM__) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000) +# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000) +# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__) || defined(__ICCSTM8__)) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100) +# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100)) +# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + +#elif defined(__SDCC_VERSION_MAJOR) || defined(SDCC) +# define COMPILER_ID "SDCC" +# if defined(__SDCC_VERSION_MAJOR) +# define COMPILER_VERSION_MAJOR DEC(__SDCC_VERSION_MAJOR) +# define COMPILER_VERSION_MINOR DEC(__SDCC_VERSION_MINOR) +# define COMPILER_VERSION_PATCH DEC(__SDCC_VERSION_PATCH) +# else + /* SDCC = VRP */ +# define COMPILER_VERSION_MAJOR DEC(SDCC/100) +# define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10) +# define COMPILER_VERSION_PATCH DEC(SDCC % 10) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXT_COMPUTE_LINUX_TARGET) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__MSYS__) +# define PLATFORM_ID "MSYS" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# elif defined(__VXWORKS__) +# define PLATFORM_ID "VxWorks" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#elif defined(__INTEGRITY) +# if defined(INT_178B) +# define PLATFORM_ID "Integrity178" + +# else /* regular Integrity */ +# define PLATFORM_ID "Integrity" +# endif + +#else /* unknown platform */ +# define PLATFORM_ID + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_ARM64EC) +# define ARCHITECTURE_ID "ARM64EC" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCRX__) +# define ARCHITECTURE_ID "RX" + +# elif defined(__ICCRH850__) +# define ARCHITECTURE_ID "RH850" + +# elif defined(__ICCRL78__) +# define ARCHITECTURE_ID "RL78" + +# elif defined(__ICCRISCV__) +# define ARCHITECTURE_ID "RISCV" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# elif defined(__ICC430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__ICCV850__) +# define ARCHITECTURE_ID "V850" + +# elif defined(__ICC8051__) +# define ARCHITECTURE_ID "8051" + +# elif defined(__ICCSTM8__) +# define ARCHITECTURE_ID "STM8" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__ghs__) +# if defined(__PPC64__) +# define ARCHITECTURE_ID "PPC64" + +# elif defined(__ppc__) +# define ARCHITECTURE_ID "PPC" + +# elif defined(__ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__x86_64__) +# define ARCHITECTURE_ID "x64" + +# elif defined(__i386__) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__TI_COMPILER_VERSION__) +# if defined(__TI_ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__MSP430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__TMS320C28XX__) +# define ARCHITECTURE_ID "TMS320C28x" + +# elif defined(__TMS320C6X__) || defined(_TMS320C6X) +# define ARCHITECTURE_ID "TMS320C6x" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#else +# define ARCHITECTURE_ID +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number. */ +#ifdef COMPILER_VERSION +char const* info_version = "INFO" ":" "compiler_version[" COMPILER_VERSION "]"; + +/* Construct a string literal encoding the version number components. */ +#elif defined(COMPILER_VERSION_MAJOR) +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#elif defined(COMPILER_VERSION_INTERNAL_STR) +char const* info_version_internal = "INFO" ":" "compiler_version_internal[" COMPILER_VERSION_INTERNAL_STR "]"; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + +#if !defined(__STDC__) && !defined(__clang__) +# if defined(_MSC_VER) || defined(__ibmxl__) || defined(__IBMC__) +# define C_VERSION "90" +# else +# define C_VERSION +# endif +#elif __STDC_VERSION__ > 201710L +# define C_VERSION "23" +#elif __STDC_VERSION__ >= 201710L +# define C_VERSION "17" +#elif __STDC_VERSION__ >= 201000L +# define C_VERSION "11" +#elif __STDC_VERSION__ >= 199901L +# define C_VERSION "99" +#else +# define C_VERSION "90" +#endif +const char* info_language_standard_default = + "INFO" ":" "standard_default[" C_VERSION "]"; + +const char* info_language_extensions_default = "INFO" ":" "extensions_default[" +/* !defined(_MSC_VER) to exclude Clang's MSVC compatibility mode. */ +#if (defined(__clang__) || defined(__GNUC__) || \ + defined(__TI_COMPILER_VERSION__)) && \ + !defined(__STRICT_ANSI__) && !defined(_MSC_VER) + "ON" +#else + "OFF" +#endif +"]"; + +/*--------------------------------------------------------------------------*/ + +#ifdef ID_VOID_MAIN +void main() {} +#else +# if defined(__CLASSIC_C__) +int main(argc, argv) int argc; char *argv[]; +# else +int main(int argc, char* argv[]) +# endif +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; + require += info_arch[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif +#ifdef COMPILER_VERSION_INTERNAL + require += info_version_internal[argc]; +#endif +#ifdef SIMULATE_ID + require += info_simulate[argc]; +#endif +#ifdef SIMULATE_VERSION_MAJOR + require += info_simulate_version[argc]; +#endif +#if defined(__CRAYXT_COMPUTE_LINUX_TARGET) + require += info_cray[argc]; +#endif + require += info_language_standard_default[argc]; + require += info_language_extensions_default[argc]; + (void)argv; + return require; +} +#endif diff --git a/build/nav2_gradient_costmap_plugin/CMakeFiles/3.22.1/CompilerIdC/a.out b/build/nav2_gradient_costmap_plugin/CMakeFiles/3.22.1/CompilerIdC/a.out new file mode 100755 index 0000000..98db476 Binary files /dev/null and b/build/nav2_gradient_costmap_plugin/CMakeFiles/3.22.1/CompilerIdC/a.out differ diff --git a/build/nav2_gradient_costmap_plugin/CMakeFiles/3.22.1/CompilerIdCXX/CMakeCXXCompilerId.cpp b/build/nav2_gradient_costmap_plugin/CMakeFiles/3.22.1/CompilerIdCXX/CMakeCXXCompilerId.cpp new file mode 100644 index 0000000..25c62a8 --- /dev/null +++ b/build/nav2_gradient_costmap_plugin/CMakeFiles/3.22.1/CompilerIdCXX/CMakeCXXCompilerId.cpp @@ -0,0 +1,791 @@ +/* This source file must have a .cpp extension so that all C++ compilers + recognize the extension without flags. Borland does not know .cxx for + example. */ +#ifndef __cplusplus +# error "A C compiler has been selected for C++." +#endif + +#if !defined(__has_include) +/* If the compiler does not have __has_include, pretend the answer is + always no. */ +# define __has_include(x) 0 +#endif + + +/* Version number components: V=Version, R=Revision, P=Patch + Version date components: YYYY=Year, MM=Month, DD=Day */ + +#if defined(__COMO__) +# define COMPILER_ID "Comeau" + /* __COMO_VERSION__ = VRR */ +# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100) +# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100) + +#elif defined(__INTEL_COMPILER) || defined(__ICC) +# define COMPILER_ID "Intel" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# if defined(__GNUC__) +# define SIMULATE_ID "GNU" +# endif + /* __INTEL_COMPILER = VRP prior to 2021, and then VVVV for 2021 and later, + except that a few beta releases use the old format with V=2021. */ +# if __INTEL_COMPILER < 2021 || __INTEL_COMPILER == 202110 || __INTEL_COMPILER == 202111 +# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100) +# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10) +# if defined(__INTEL_COMPILER_UPDATE) +# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE) +# else +# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER % 10) +# endif +# else +# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER) +# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER_UPDATE) + /* The third version component from --version is an update index, + but no macro is provided for it. */ +# define COMPILER_VERSION_PATCH DEC(0) +# endif +# if defined(__INTEL_COMPILER_BUILD_DATE) + /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */ +# define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE) +# endif +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# if defined(__GNUC__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUC__) +# elif defined(__GNUG__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUG__) +# endif +# if defined(__GNUC_MINOR__) +# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif (defined(__clang__) && defined(__INTEL_CLANG_COMPILER)) || defined(__INTEL_LLVM_COMPILER) +# define COMPILER_ID "IntelLLVM" +#if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +#endif +#if defined(__GNUC__) +# define SIMULATE_ID "GNU" +#endif +/* __INTEL_LLVM_COMPILER = VVVVRP prior to 2021.2.0, VVVVRRPP for 2021.2.0 and + * later. Look for 6 digit vs. 8 digit version number to decide encoding. + * VVVV is no smaller than the current year when a version is released. + */ +#if __INTEL_LLVM_COMPILER < 1000000L +# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/100) +# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER % 10) +#else +# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/10000) +# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER % 100) +#endif +#if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +#endif +#if defined(__GNUC__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUC__) +#elif defined(__GNUG__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUG__) +#endif +#if defined(__GNUC_MINOR__) +# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__) +#endif +#if defined(__GNUC_PATCHLEVEL__) +# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +#endif + +#elif defined(__PATHCC__) +# define COMPILER_ID "PathScale" +# define COMPILER_VERSION_MAJOR DEC(__PATHCC__) +# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__) +# if defined(__PATHCC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__) +# endif + +#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__) +# define COMPILER_ID "Embarcadero" +# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF) +# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF) +# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__ & 0xFFFF) + +#elif defined(__BORLANDC__) +# define COMPILER_ID "Borland" + /* __BORLANDC__ = 0xVRR */ +# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8) +# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF) + +#elif defined(__WATCOMC__) && __WATCOMC__ < 1200 +# define COMPILER_ID "Watcom" + /* __WATCOMC__ = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__WATCOMC__) +# define COMPILER_ID "OpenWatcom" + /* __WATCOMC__ = VVRP + 1100 */ +# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__SUNPRO_CC) +# define COMPILER_ID "SunPro" +# if __SUNPRO_CC >= 0x5100 + /* __SUNPRO_CC = 0xVRRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# else + /* __SUNPRO_CC = 0xVRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# endif + +#elif defined(__HP_aCC) +# define COMPILER_ID "HP" + /* __HP_aCC = VVRRPP */ +# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000) +# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__HP_aCC % 100) + +#elif defined(__DECCXX) +# define COMPILER_ID "Compaq" + /* __DECCXX_VER = VVRRTPPPP */ +# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000) +# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000 % 100) +# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER % 10000) + +#elif defined(__IBMCPP__) && defined(__COMPILER_VER__) +# define COMPILER_ID "zOS" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__ibmxl__) && defined(__clang__) +# define COMPILER_ID "XLClang" +# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__) +# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__) +# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__) +# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__) + + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800 +# define COMPILER_ID "XL" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800 +# define COMPILER_ID "VisualAge" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__NVCOMPILER) +# define COMPILER_ID "NVHPC" +# define COMPILER_VERSION_MAJOR DEC(__NVCOMPILER_MAJOR__) +# define COMPILER_VERSION_MINOR DEC(__NVCOMPILER_MINOR__) +# if defined(__NVCOMPILER_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__NVCOMPILER_PATCHLEVEL__) +# endif + +#elif defined(__PGI) +# define COMPILER_ID "PGI" +# define COMPILER_VERSION_MAJOR DEC(__PGIC__) +# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__) +# if defined(__PGIC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__) +# endif + +#elif defined(_CRAYC) +# define COMPILER_ID "Cray" +# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR) +# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR) + +#elif defined(__TI_COMPILER_VERSION__) +# define COMPILER_ID "TI" + /* __TI_COMPILER_VERSION__ = VVVRRRPPP */ +# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000) +# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000) +# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000) + +#elif defined(__CLANG_FUJITSU) +# define COMPILER_ID "FujitsuClang" +# define COMPILER_VERSION_MAJOR DEC(__FCC_major__) +# define COMPILER_VERSION_MINOR DEC(__FCC_minor__) +# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__) +# define COMPILER_VERSION_INTERNAL_STR __clang_version__ + + +#elif defined(__FUJITSU) +# define COMPILER_ID "Fujitsu" +# if defined(__FCC_version__) +# define COMPILER_VERSION __FCC_version__ +# elif defined(__FCC_major__) +# define COMPILER_VERSION_MAJOR DEC(__FCC_major__) +# define COMPILER_VERSION_MINOR DEC(__FCC_minor__) +# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__) +# endif +# if defined(__fcc_version) +# define COMPILER_VERSION_INTERNAL DEC(__fcc_version) +# elif defined(__FCC_VERSION) +# define COMPILER_VERSION_INTERNAL DEC(__FCC_VERSION) +# endif + + +#elif defined(__ghs__) +# define COMPILER_ID "GHS" +/* __GHS_VERSION_NUMBER = VVVVRP */ +# ifdef __GHS_VERSION_NUMBER +# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100) +# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10) +# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER % 10) +# endif + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__ARMCC_VERSION) && !defined(__clang__) +# define COMPILER_ID "ARMCC" +#if __ARMCC_VERSION >= 1000000 + /* __ARMCC_VERSION = VRRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#else + /* __ARMCC_VERSION = VRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#endif + + +#elif defined(__clang__) && defined(__apple_build_version__) +# define COMPILER_ID "AppleClang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) + +#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION) +# define COMPILER_ID "ARMClang" + # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION % 10000) +# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION) + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__GNUC__) || defined(__GNUG__) +# define COMPILER_ID "GNU" +# if defined(__GNUC__) +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# else +# define COMPILER_VERSION_MAJOR DEC(__GNUG__) +# endif +# if defined(__GNUC_MINOR__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" +#if defined(__VISUALDSPVERSION__) + /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ +# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) +# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" +# if defined(__VER__) && defined(__ICCARM__) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000) +# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000) +# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__) || defined(__ICCSTM8__)) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100) +# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100)) +# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXT_COMPUTE_LINUX_TARGET) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__MSYS__) +# define PLATFORM_ID "MSYS" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# elif defined(__VXWORKS__) +# define PLATFORM_ID "VxWorks" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#elif defined(__INTEGRITY) +# if defined(INT_178B) +# define PLATFORM_ID "Integrity178" + +# else /* regular Integrity */ +# define PLATFORM_ID "Integrity" +# endif + +#else /* unknown platform */ +# define PLATFORM_ID + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_ARM64EC) +# define ARCHITECTURE_ID "ARM64EC" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCRX__) +# define ARCHITECTURE_ID "RX" + +# elif defined(__ICCRH850__) +# define ARCHITECTURE_ID "RH850" + +# elif defined(__ICCRL78__) +# define ARCHITECTURE_ID "RL78" + +# elif defined(__ICCRISCV__) +# define ARCHITECTURE_ID "RISCV" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# elif defined(__ICC430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__ICCV850__) +# define ARCHITECTURE_ID "V850" + +# elif defined(__ICC8051__) +# define ARCHITECTURE_ID "8051" + +# elif defined(__ICCSTM8__) +# define ARCHITECTURE_ID "STM8" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__ghs__) +# if defined(__PPC64__) +# define ARCHITECTURE_ID "PPC64" + +# elif defined(__ppc__) +# define ARCHITECTURE_ID "PPC" + +# elif defined(__ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__x86_64__) +# define ARCHITECTURE_ID "x64" + +# elif defined(__i386__) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__TI_COMPILER_VERSION__) +# if defined(__TI_ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__MSP430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__TMS320C28XX__) +# define ARCHITECTURE_ID "TMS320C28x" + +# elif defined(__TMS320C6X__) || defined(_TMS320C6X) +# define ARCHITECTURE_ID "TMS320C6x" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#else +# define ARCHITECTURE_ID +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number. */ +#ifdef COMPILER_VERSION +char const* info_version = "INFO" ":" "compiler_version[" COMPILER_VERSION "]"; + +/* Construct a string literal encoding the version number components. */ +#elif defined(COMPILER_VERSION_MAJOR) +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#elif defined(COMPILER_VERSION_INTERNAL_STR) +char const* info_version_internal = "INFO" ":" "compiler_version_internal[" COMPILER_VERSION_INTERNAL_STR "]"; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; 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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_standard_default = "INFO" ":" "standard_default[" +#if CXX_STD > 202002L + "23" +#elif CXX_STD > 201703L + "20" +#elif CXX_STD >= 201703L + "17" +#elif CXX_STD >= 201402L + "14" +#elif CXX_STD >= 201103L + "11" +#else + "98" +#endif +"]"; + +const char* 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b/build/nav2_gradient_costmap_plugin/ament_cmake_core/nav2_gradient_costmap_pluginConfig.cmake new file mode 100644 index 0000000..c2cb1ff --- /dev/null +++ b/build/nav2_gradient_costmap_plugin/ament_cmake_core/nav2_gradient_costmap_pluginConfig.cmake @@ -0,0 +1,42 @@ +# generated from ament/cmake/core/templates/nameConfig.cmake.in + +# prevent multiple inclusion +if(_nav2_gradient_costmap_plugin_CONFIG_INCLUDED) + # ensure to keep the found flag the same + if(NOT DEFINED nav2_gradient_costmap_plugin_FOUND) + # explicitly set it to FALSE, otherwise CMake will set it to TRUE + set(nav2_gradient_costmap_plugin_FOUND FALSE) + elseif(NOT nav2_gradient_costmap_plugin_FOUND) + # use separate condition to avoid uninitialized variable warning + set(nav2_gradient_costmap_plugin_FOUND FALSE) + endif() + return() +endif() +set(_nav2_gradient_costmap_plugin_CONFIG_INCLUDED TRUE) + +# output package information +if(NOT nav2_gradient_costmap_plugin_FIND_QUIETLY) + message(STATUS "Found nav2_gradient_costmap_plugin: 1.0.0 (${nav2_gradient_costmap_plugin_DIR})") +endif() + +# warn when using a deprecated package +if(NOT "" STREQUAL "") + set(_msg "Package 'nav2_gradient_costmap_plugin' is deprecated") + # append custom deprecation text if available + if(NOT "" STREQUAL "TRUE") + set(_msg "${_msg} ()") + endif() + # optionally quiet the deprecation message + if(NOT ${nav2_gradient_costmap_plugin_DEPRECATED_QUIET}) + message(DEPRECATION "${_msg}") + endif() +endif() + +# flag package as ament-based to distinguish it after being find_package()-ed +set(nav2_gradient_costmap_plugin_FOUND_AMENT_PACKAGE TRUE) + +# include all config extra files +set(_extras "") +foreach(_extra ${_extras}) + include("${nav2_gradient_costmap_plugin_DIR}/${_extra}") +endforeach() diff --git a/build/nav2_gradient_costmap_plugin/ament_cmake_core/package.cmake b/build/nav2_gradient_costmap_plugin/ament_cmake_core/package.cmake new file mode 100644 index 0000000..663b10e --- /dev/null +++ b/build/nav2_gradient_costmap_plugin/ament_cmake_core/package.cmake @@ -0,0 +1,17 @@ +set(_AMENT_PACKAGE_NAME "nav2_gradient_costmap_plugin") +set(nav2_gradient_costmap_plugin_VERSION "1.0.0") +set(nav2_gradient_costmap_plugin_MAINTAINER "Alexey Merzlyakov ") +set(nav2_gradient_costmap_plugin_BUILD_DEPENDS "nav2_costmap_2d" "pluginlib" "rclcpp" "geometry_msgs") +set(nav2_gradient_costmap_plugin_BUILDTOOL_DEPENDS "ament_cmake") +set(nav2_gradient_costmap_plugin_BUILD_EXPORT_DEPENDS "nav2_costmap_2d" "pluginlib" "rclcpp" "geometry_msgs") +set(nav2_gradient_costmap_plugin_BUILDTOOL_EXPORT_DEPENDS ) +set(nav2_gradient_costmap_plugin_EXEC_DEPENDS "nav2_costmap_2d" "pluginlib" "rclcpp" "geometry_msgs") +set(nav2_gradient_costmap_plugin_TEST_DEPENDS "ament_lint_auto" "ament_lint_common") +set(nav2_gradient_costmap_plugin_GROUP_DEPENDS ) +set(nav2_gradient_costmap_plugin_MEMBER_OF_GROUPS ) +set(nav2_gradient_costmap_plugin_DEPRECATED "") +set(nav2_gradient_costmap_plugin_EXPORT_TAGS) +list(APPEND nav2_gradient_costmap_plugin_EXPORT_TAGS "") +list(APPEND nav2_gradient_costmap_plugin_EXPORT_TAGS "ament_cmake") +list(APPEND nav2_gradient_costmap_plugin_EXPORT_TAGS "rclcpp") +list(APPEND nav2_gradient_costmap_plugin_EXPORT_TAGS "std_msgs") diff --git a/build/nav2_gradient_costmap_plugin/ament_cmake_core/stamps/ament_prefix_path.sh.stamp b/build/nav2_gradient_costmap_plugin/ament_cmake_core/stamps/ament_prefix_path.sh.stamp new file mode 100644 index 0000000..02e441b --- /dev/null +++ b/build/nav2_gradient_costmap_plugin/ament_cmake_core/stamps/ament_prefix_path.sh.stamp @@ -0,0 +1,4 @@ +# copied from +# ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh + +ament_prepend_unique_value AMENT_PREFIX_PATH "$AMENT_CURRENT_PREFIX" diff --git a/build/nav2_gradient_costmap_plugin/ament_cmake_core/stamps/nameConfig-version.cmake.in.stamp b/build/nav2_gradient_costmap_plugin/ament_cmake_core/stamps/nameConfig-version.cmake.in.stamp new file mode 100644 index 0000000..ee49c9f --- /dev/null +++ b/build/nav2_gradient_costmap_plugin/ament_cmake_core/stamps/nameConfig-version.cmake.in.stamp @@ -0,0 +1,14 @@ +# generated from ament/cmake/core/templates/nameConfig-version.cmake.in +set(PACKAGE_VERSION "@PACKAGE_VERSION@") + +set(PACKAGE_VERSION_EXACT False) +set(PACKAGE_VERSION_COMPATIBLE False) + +if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_EXACT True) + set(PACKAGE_VERSION_COMPATIBLE True) +endif() + +if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_COMPATIBLE True) +endif() diff --git a/build/nav2_gradient_costmap_plugin/ament_cmake_core/stamps/nameConfig.cmake.in.stamp b/build/nav2_gradient_costmap_plugin/ament_cmake_core/stamps/nameConfig.cmake.in.stamp new file mode 100644 index 0000000..6fb3fe7 --- /dev/null +++ b/build/nav2_gradient_costmap_plugin/ament_cmake_core/stamps/nameConfig.cmake.in.stamp @@ -0,0 +1,42 @@ +# generated from ament/cmake/core/templates/nameConfig.cmake.in + +# prevent multiple inclusion +if(_@PROJECT_NAME@_CONFIG_INCLUDED) + # ensure to keep the found flag the same + if(NOT DEFINED @PROJECT_NAME@_FOUND) + # explicitly set it to FALSE, otherwise CMake will set it to TRUE + set(@PROJECT_NAME@_FOUND FALSE) + elseif(NOT @PROJECT_NAME@_FOUND) + # use separate condition to avoid uninitialized variable warning + set(@PROJECT_NAME@_FOUND FALSE) + endif() + return() +endif() +set(_@PROJECT_NAME@_CONFIG_INCLUDED TRUE) + +# output package information +if(NOT @PROJECT_NAME@_FIND_QUIETLY) + message(STATUS "Found @PROJECT_NAME@: @PACKAGE_VERSION@ (${@PROJECT_NAME@_DIR})") +endif() + +# warn when using a deprecated package +if(NOT "@PACKAGE_DEPRECATED@" STREQUAL "") + set(_msg "Package '@PROJECT_NAME@' is deprecated") + # append custom deprecation text if available + if(NOT "@PACKAGE_DEPRECATED@" STREQUAL "TRUE") + set(_msg "${_msg} (@PACKAGE_DEPRECATED@)") + endif() + # optionally quiet the deprecation message + if(NOT ${@PROJECT_NAME@_DEPRECATED_QUIET}) + message(DEPRECATION "${_msg}") + endif() +endif() + +# flag package as ament-based to distinguish it after being find_package()-ed +set(@PROJECT_NAME@_FOUND_AMENT_PACKAGE TRUE) + +# include all config extra files +set(_extras "@PACKAGE_CONFIG_EXTRA_FILES@") +foreach(_extra ${_extras}) + include("${@PROJECT_NAME@_DIR}/${_extra}") +endforeach() diff --git a/build/nav2_gradient_costmap_plugin/ament_cmake_core/stamps/package.xml.stamp b/build/nav2_gradient_costmap_plugin/ament_cmake_core/stamps/package.xml.stamp new file mode 100644 index 0000000..2ade3a6 --- /dev/null +++ b/build/nav2_gradient_costmap_plugin/ament_cmake_core/stamps/package.xml.stamp @@ -0,0 +1,26 @@ + + + + nav2_gradient_costmap_plugin + 1.0.0 + Run-time plugin for Costmap2D gradient later + Alexey Merzlyakov + BSD-3-Clause + + ament_cmake + + ament_lint_auto + ament_lint_common + + nav2_costmap_2d + pluginlib + rclcpp + geometry_msgs + + + + ament_cmake + rclcpp + std_msgs + + diff --git a/build/nav2_gradient_costmap_plugin/ament_cmake_core/stamps/package_xml_2_cmake.py.stamp b/build/nav2_gradient_costmap_plugin/ament_cmake_core/stamps/package_xml_2_cmake.py.stamp new file mode 100644 index 0000000..8be9894 --- /dev/null +++ b/build/nav2_gradient_costmap_plugin/ament_cmake_core/stamps/package_xml_2_cmake.py.stamp @@ -0,0 +1,150 @@ +#!/usr/bin/env python3 + +# Copyright 2014-2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import argparse +from collections import OrderedDict +import os +import sys + +from catkin_pkg.package import parse_package_string + + +def main(argv=sys.argv[1:]): + """ + Extract the information from package.xml and make them accessible to CMake. + + Parse the given package.xml file and + print CMake code defining several variables containing the content. + """ + parser = argparse.ArgumentParser( + description='Parse package.xml file and print CMake code defining ' + 'several variables', + ) + parser.add_argument( + 'package_xml', + type=argparse.FileType('r', encoding='utf-8'), + help='The path to a package.xml file', + ) + parser.add_argument( + 'outfile', + nargs='?', + help='The filename where the output should be written to', + ) + args = parser.parse_args(argv) + + try: + package = parse_package_string( + args.package_xml.read(), filename=args.package_xml.name) + except Exception as e: + print("Error parsing '%s':" % args.package_xml.name, file=sys.stderr) + raise e + finally: + args.package_xml.close() + + lines = generate_cmake_code(package) + if args.outfile: + with open(args.outfile, 'w', encoding='utf-8') as f: + for line in lines: + f.write('%s\n' % line) + else: + for line in lines: + print(line) + + +def get_dependency_values(key, depends): + dependencies = [] + + # Filter the dependencies, checking for any condition attributes + dependencies.append((key, ' '.join([ + '"%s"' % str(d) for d in depends + if d.condition is None or d.evaluate_condition(os.environ) + ]))) + + for d in depends: + comparisons = [ + 'version_lt', + 'version_lte', + 'version_eq', + 'version_gte', + 'version_gt'] + for comp in comparisons: + value = getattr(d, comp, None) + if value is not None: + dependencies.append(('%s_%s_%s' % (key, str(d), comp.upper()), + '"%s"' % value)) + return dependencies + + +def generate_cmake_code(package): + """ + Return a list of CMake set() commands containing the manifest information. + + :param package: catkin_pkg.package.Package + :returns: list of str + """ + variables = [] + variables.append(('VERSION', '"%s"' % package.version)) + + variables.append(( + 'MAINTAINER', + '"%s"' % (', '.join([str(m) for m in package.maintainers])))) + + variables.extend(get_dependency_values('BUILD_DEPENDS', + package.build_depends)) + variables.extend(get_dependency_values('BUILDTOOL_DEPENDS', + package.buildtool_depends)) + variables.extend(get_dependency_values('BUILD_EXPORT_DEPENDS', + package.build_export_depends)) + variables.extend(get_dependency_values('BUILDTOOL_EXPORT_DEPENDS', + package.buildtool_export_depends)) + variables.extend(get_dependency_values('EXEC_DEPENDS', + package.exec_depends)) + variables.extend(get_dependency_values('TEST_DEPENDS', + package.test_depends)) + variables.extend(get_dependency_values('GROUP_DEPENDS', + package.group_depends)) + variables.extend(get_dependency_values('MEMBER_OF_GROUPS', + package.member_of_groups)) + + deprecated = [e.content for e in package.exports + if e.tagname == 'deprecated'] + variables.append(('DEPRECATED', + '"%s"' % ((deprecated[0] if deprecated[0] else 'TRUE') + if deprecated + else ''))) + + lines = [] + lines.append('set(_AMENT_PACKAGE_NAME "%s")' % package.name) + for (k, v) in variables: + lines.append('set(%s_%s %s)' % (package.name, k, v)) + + lines.append('set(%s_EXPORT_TAGS)' % package.name) + replaces = OrderedDict() + replaces['${prefix}/'] = '' + replaces['\\'] = '\\\\' # escape backslashes + replaces['"'] = '\\"' # prevent double quotes to end the CMake string + replaces[';'] = '\\;' # prevent semicolons to be interpreted as list separators + for export in package.exports: + export = str(export) + for k, v in replaces.items(): + export = export.replace(k, v) + lines.append('list(APPEND %s_EXPORT_TAGS "%s")' % (package.name, export)) + + return lines + + +if __name__ == '__main__': + main() diff --git a/build/nav2_gradient_costmap_plugin/ament_cmake_core/stamps/path.sh.stamp b/build/nav2_gradient_costmap_plugin/ament_cmake_core/stamps/path.sh.stamp new file mode 100644 index 0000000..e59b749 --- /dev/null +++ b/build/nav2_gradient_costmap_plugin/ament_cmake_core/stamps/path.sh.stamp @@ -0,0 +1,5 @@ +# copied from ament_cmake_core/cmake/environment_hooks/environment/path.sh + +if [ -d "$AMENT_CURRENT_PREFIX/bin" ]; then + ament_prepend_unique_value PATH "$AMENT_CURRENT_PREFIX/bin" +fi diff --git a/build/nav2_gradient_costmap_plugin/ament_cmake_core/stamps/templates_2_cmake.py.stamp b/build/nav2_gradient_costmap_plugin/ament_cmake_core/stamps/templates_2_cmake.py.stamp new file mode 100644 index 0000000..fb2fb47 --- /dev/null +++ b/build/nav2_gradient_costmap_plugin/ament_cmake_core/stamps/templates_2_cmake.py.stamp @@ -0,0 +1,112 @@ +#!/usr/bin/env python3 + +# Copyright 2014-2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import argparse +import os +import sys + +from ament_package.templates import get_environment_hook_template_path +from ament_package.templates import get_package_level_template_names +from ament_package.templates import get_package_level_template_path +from ament_package.templates import get_prefix_level_template_names +from ament_package.templates import get_prefix_level_template_path + +IS_WINDOWS = os.name == 'nt' + + +def main(argv=sys.argv[1:]): + """ + Extract the information about templates provided by ament_package. + + Call the API provided by ament_package and + print CMake code defining several variables containing information about + the available templates. + """ + parser = argparse.ArgumentParser( + description='Extract information about templates provided by ' + 'ament_package and print CMake code defining several ' + 'variables', + ) + parser.add_argument( + 'outfile', + nargs='?', + help='The filename where the output should be written to', + ) + args = parser.parse_args(argv) + + lines = generate_cmake_code() + if args.outfile: + basepath = os.path.dirname(args.outfile) + if not os.path.exists(basepath): + os.makedirs(basepath) + with open(args.outfile, 'w') as f: + for line in lines: + f.write('%s\n' % line) + else: + for line in lines: + print(line) + + +def generate_cmake_code(): + """ + Return a list of CMake set() commands containing the template information. + + :returns: list of str + """ + variables = [] + + if not IS_WINDOWS: + variables.append(( + 'ENVIRONMENT_HOOK_LIBRARY_PATH', + '"%s"' % get_environment_hook_template_path('library_path.sh'))) + else: + variables.append(('ENVIRONMENT_HOOK_LIBRARY_PATH', '')) + + ext = '.bat.in' if IS_WINDOWS else '.sh.in' + variables.append(( + 'ENVIRONMENT_HOOK_PYTHONPATH', + '"%s"' % get_environment_hook_template_path('pythonpath' + ext))) + + templates = [] + for name in get_package_level_template_names(): + templates.append('"%s"' % get_package_level_template_path(name)) + variables.append(( + 'PACKAGE_LEVEL', + templates)) + + templates = [] + for name in get_prefix_level_template_names(): + templates.append('"%s"' % get_prefix_level_template_path(name)) + variables.append(( + 'PREFIX_LEVEL', + templates)) + + lines = [] + for (k, v) in variables: + if isinstance(v, list): + lines.append('set(ament_cmake_package_templates_%s "")' % k) + for vv in v: + lines.append('list(APPEND ament_cmake_package_templates_%s %s)' + % (k, vv)) + else: + lines.append('set(ament_cmake_package_templates_%s %s)' % (k, v)) + # Ensure backslashes are replaced with forward slashes because CMake cannot + # parse files with backslashes in it. + return [line.replace('\\', '/') for line in lines] + + +if __name__ == '__main__': + main() diff --git a/build/nav2_gradient_costmap_plugin/ament_cmake_environment_hooks/ament_prefix_path.dsv b/build/nav2_gradient_costmap_plugin/ament_cmake_environment_hooks/ament_prefix_path.dsv new file mode 100644 index 0000000..79d4c95 --- /dev/null +++ b/build/nav2_gradient_costmap_plugin/ament_cmake_environment_hooks/ament_prefix_path.dsv @@ -0,0 +1 @@ +prepend-non-duplicate;AMENT_PREFIX_PATH; diff --git a/build/nav2_gradient_costmap_plugin/ament_cmake_environment_hooks/local_setup.bash b/build/nav2_gradient_costmap_plugin/ament_cmake_environment_hooks/local_setup.bash new file mode 100644 index 0000000..49782f2 --- /dev/null +++ b/build/nav2_gradient_costmap_plugin/ament_cmake_environment_hooks/local_setup.bash @@ -0,0 +1,46 @@ +# generated from ament_package/template/package_level/local_setup.bash.in + +# source local_setup.sh from same directory as this file +_this_path=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" && pwd) +# provide AMENT_CURRENT_PREFIX to shell script +AMENT_CURRENT_PREFIX=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." && pwd) +# store AMENT_CURRENT_PREFIX to restore it before each environment hook +_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX + +# trace output +if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then + echo "# . \"$_this_path/local_setup.sh\"" +fi +. "$_this_path/local_setup.sh" +unset _this_path + +# unset AMENT_ENVIRONMENT_HOOKS +# if not appending to them for return +if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then + unset AMENT_ENVIRONMENT_HOOKS +fi + +# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks +AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX +# list all environment hooks of this package + +# source all shell-specific environment hooks of this package +# if not returning them +if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then + _package_local_setup_IFS=$IFS + IFS=":" + for _hook in $AMENT_ENVIRONMENT_HOOKS; do + # restore AMENT_CURRENT_PREFIX for each environment hook + AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX + # restore IFS before sourcing other files + IFS=$_package_local_setup_IFS + . "$_hook" + done + unset _hook + IFS=$_package_local_setup_IFS + unset _package_local_setup_IFS + unset AMENT_ENVIRONMENT_HOOKS +fi + +unset _package_local_setup_AMENT_CURRENT_PREFIX +unset AMENT_CURRENT_PREFIX diff --git a/build/nav2_gradient_costmap_plugin/ament_cmake_environment_hooks/local_setup.dsv b/build/nav2_gradient_costmap_plugin/ament_cmake_environment_hooks/local_setup.dsv new file mode 100644 index 0000000..2ca2112 --- /dev/null +++ b/build/nav2_gradient_costmap_plugin/ament_cmake_environment_hooks/local_setup.dsv @@ -0,0 +1,2 @@ +source;share/nav2_gradient_costmap_plugin/environment/ament_prefix_path.sh +source;share/nav2_gradient_costmap_plugin/environment/path.sh diff --git a/build/nav2_gradient_costmap_plugin/ament_cmake_environment_hooks/local_setup.sh b/build/nav2_gradient_costmap_plugin/ament_cmake_environment_hooks/local_setup.sh new file mode 100644 index 0000000..9005173 --- /dev/null +++ b/build/nav2_gradient_costmap_plugin/ament_cmake_environment_hooks/local_setup.sh @@ -0,0 +1,184 @@ +# generated from ament_package/template/package_level/local_setup.sh.in + +# since this file is sourced use either the provided AMENT_CURRENT_PREFIX +# or fall back to the destination set at configure time +: ${AMENT_CURRENT_PREFIX:="/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin"} +if [ ! -d "$AMENT_CURRENT_PREFIX" ]; then + if [ -z "$COLCON_CURRENT_PREFIX" ]; then + echo "The compile time prefix path '$AMENT_CURRENT_PREFIX' doesn't " \ + "exist. Consider sourcing a different extension than '.sh'." 1>&2 + else + AMENT_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX" + fi +fi + +# function to append values to environment variables +# using colons as separators and avoiding leading separators +ament_append_value() { + # arguments + _listname="$1" + _value="$2" + #echo "listname $_listname" + #eval echo "list value \$$_listname" + #echo "value $_value" + + # avoid leading separator + eval _values=\"\$$_listname\" + if [ -z "$_values" ]; then + eval export $_listname=\"$_value\" + #eval echo "set list \$$_listname" + else + # field separator must not be a colon + _ament_append_value_IFS=$IFS + unset IFS + eval export $_listname=\"\$$_listname:$_value\" + #eval echo "append list \$$_listname" + IFS=$_ament_append_value_IFS + unset _ament_append_value_IFS + fi + unset _values + + unset _value + unset _listname +} + +# function to append non-duplicate values to environment variables +# using colons as separators and avoiding leading separators +ament_append_unique_value() { + # arguments + _listname=$1 + _value=$2 + #echo "listname $_listname" + #eval echo "list value \$$_listname" + #echo "value $_value" + + # check if the list contains the value + eval _values=\$$_listname + _duplicate= + _ament_append_unique_value_IFS=$IFS + IFS=":" + if [ "$AMENT_SHELL" = "zsh" ]; then + ament_zsh_to_array _values + fi + for _item in $_values; do + # ignore empty strings + if [ -z "$_item" ]; then + continue + fi + if [ $_item = $_value ]; then + _duplicate=1 + fi + done + unset _item + + # append only non-duplicates + if [ -z "$_duplicate" ]; then + # avoid leading separator + if [ -z "$_values" ]; then + eval $_listname=\"$_value\" + #eval echo "set list \$$_listname" + else + # field separator must not be a colon + unset IFS + eval $_listname=\"\$$_listname:$_value\" + #eval echo "append list \$$_listname" + fi + fi + IFS=$_ament_append_unique_value_IFS + unset _ament_append_unique_value_IFS + unset _duplicate + unset _values + + unset _value + unset _listname +} + +# function to prepend non-duplicate values to environment variables +# using colons as separators and avoiding trailing separators +ament_prepend_unique_value() { + # arguments + _listname="$1" + _value="$2" + #echo "listname $_listname" + #eval echo "list value \$$_listname" + #echo "value $_value" + + # check if the list contains the value + eval _values=\"\$$_listname\" + _duplicate= + _ament_prepend_unique_value_IFS=$IFS + IFS=":" + if [ "$AMENT_SHELL" = "zsh" ]; then + ament_zsh_to_array _values + fi + for _item in $_values; do + # ignore empty strings + if [ -z "$_item" ]; then + continue + fi + if [ "$_item" = "$_value" ]; then + _duplicate=1 + fi + done + unset _item + + # prepend only non-duplicates + if [ -z "$_duplicate" ]; then + # avoid trailing separator + if [ -z "$_values" ]; then + eval export $_listname=\"$_value\" + #eval echo "set list \$$_listname" + else + # field separator must not be a colon + unset IFS + eval export $_listname=\"$_value:\$$_listname\" + #eval echo "prepend list \$$_listname" + fi + fi + IFS=$_ament_prepend_unique_value_IFS + unset _ament_prepend_unique_value_IFS + unset _duplicate + unset _values + + unset _value + unset _listname +} + +# unset AMENT_ENVIRONMENT_HOOKS +# if not appending to them for return +if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then + unset AMENT_ENVIRONMENT_HOOKS +fi + +# list all environment hooks of this package +ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/nav2_gradient_costmap_plugin/environment/ament_prefix_path.sh" +ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/nav2_gradient_costmap_plugin/environment/path.sh" + +# source all shell-specific environment hooks of this package +# if not returning them +if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then + _package_local_setup_IFS=$IFS + IFS=":" + if [ "$AMENT_SHELL" = "zsh" ]; then + ament_zsh_to_array AMENT_ENVIRONMENT_HOOKS + fi + for _hook in $AMENT_ENVIRONMENT_HOOKS; do + if [ -f "$_hook" ]; then + # restore IFS before sourcing other files + IFS=$_package_local_setup_IFS + # trace output + if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then + echo "# . \"$_hook\"" + fi + . "$_hook" + fi + done + unset _hook + IFS=$_package_local_setup_IFS + unset _package_local_setup_IFS + unset AMENT_ENVIRONMENT_HOOKS +fi + +# reset AMENT_CURRENT_PREFIX after each package +# allowing to source multiple package-level setup files +unset AMENT_CURRENT_PREFIX diff --git a/build/nav2_gradient_costmap_plugin/ament_cmake_environment_hooks/local_setup.zsh b/build/nav2_gradient_costmap_plugin/ament_cmake_environment_hooks/local_setup.zsh new file mode 100644 index 0000000..fe161be --- /dev/null +++ b/build/nav2_gradient_costmap_plugin/ament_cmake_environment_hooks/local_setup.zsh @@ -0,0 +1,59 @@ +# generated from ament_package/template/package_level/local_setup.zsh.in + +AMENT_SHELL=zsh + +# source local_setup.sh from same directory as this file +_this_path=$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd) +# provide AMENT_CURRENT_PREFIX to shell script +AMENT_CURRENT_PREFIX=$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd) +# store AMENT_CURRENT_PREFIX to restore it before each environment hook +_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX + +# function to convert array-like strings into arrays +# to wordaround SH_WORD_SPLIT not being set +ament_zsh_to_array() { + local _listname=$1 + local _dollar="$" + local _split="{=" + local _to_array="(\"$_dollar$_split$_listname}\")" + eval $_listname=$_to_array +} + +# trace output +if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then + echo "# . \"$_this_path/local_setup.sh\"" +fi +# the package-level local_setup file unsets AMENT_CURRENT_PREFIX +. "$_this_path/local_setup.sh" +unset _this_path + +# unset AMENT_ENVIRONMENT_HOOKS +# if not appending to them for return +if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then + unset AMENT_ENVIRONMENT_HOOKS +fi + +# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks +AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX +# list all environment hooks of this package + +# source all shell-specific environment hooks of this package +# if not returning them +if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then + _package_local_setup_IFS=$IFS + IFS=":" + for _hook in $AMENT_ENVIRONMENT_HOOKS; do + # restore AMENT_CURRENT_PREFIX for each environment hook + AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX + # restore IFS before sourcing other files + IFS=$_package_local_setup_IFS + . "$_hook" + done + unset _hook + IFS=$_package_local_setup_IFS + unset _package_local_setup_IFS + unset AMENT_ENVIRONMENT_HOOKS +fi + +unset _package_local_setup_AMENT_CURRENT_PREFIX +unset AMENT_CURRENT_PREFIX diff --git a/build/nav2_gradient_costmap_plugin/ament_cmake_environment_hooks/package.dsv b/build/nav2_gradient_costmap_plugin/ament_cmake_environment_hooks/package.dsv new file mode 100644 index 0000000..ba7f7a8 --- /dev/null +++ b/build/nav2_gradient_costmap_plugin/ament_cmake_environment_hooks/package.dsv @@ -0,0 +1,4 @@ +source;share/nav2_gradient_costmap_plugin/local_setup.bash +source;share/nav2_gradient_costmap_plugin/local_setup.dsv +source;share/nav2_gradient_costmap_plugin/local_setup.sh +source;share/nav2_gradient_costmap_plugin/local_setup.zsh diff --git a/build/nav2_gradient_costmap_plugin/ament_cmake_environment_hooks/path.dsv b/build/nav2_gradient_costmap_plugin/ament_cmake_environment_hooks/path.dsv new file mode 100644 index 0000000..b94426a --- /dev/null +++ b/build/nav2_gradient_costmap_plugin/ament_cmake_environment_hooks/path.dsv @@ -0,0 +1 @@ +prepend-non-duplicate-if-exists;PATH;bin diff --git a/build/nav2_gradient_costmap_plugin/ament_cmake_index/share/ament_index/resource_index/nav2_costmap_2d__pluginlib__plugin/nav2_gradient_costmap_plugin b/build/nav2_gradient_costmap_plugin/ament_cmake_index/share/ament_index/resource_index/nav2_costmap_2d__pluginlib__plugin/nav2_gradient_costmap_plugin new file mode 100644 index 0000000..2591d20 --- /dev/null +++ b/build/nav2_gradient_costmap_plugin/ament_cmake_index/share/ament_index/resource_index/nav2_costmap_2d__pluginlib__plugin/nav2_gradient_costmap_plugin @@ -0,0 +1 @@ +share/nav2_gradient_costmap_plugin/gradient_layer.xml diff --git a/build/nav2_gradient_costmap_plugin/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/nav2_gradient_costmap_plugin b/build/nav2_gradient_costmap_plugin/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/nav2_gradient_costmap_plugin new file mode 100644 index 0000000..8d6da19 --- /dev/null +++ b/build/nav2_gradient_costmap_plugin/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/nav2_gradient_costmap_plugin @@ -0,0 +1 @@ +nav2_costmap_2d;pluginlib;rclcpp;geometry_msgs;ament_lint_auto;ament_lint_common \ No newline at end of file diff --git a/build/nav2_gradient_costmap_plugin/ament_cmake_index/share/ament_index/resource_index/packages/nav2_gradient_costmap_plugin b/build/nav2_gradient_costmap_plugin/ament_cmake_index/share/ament_index/resource_index/packages/nav2_gradient_costmap_plugin new file mode 100644 index 0000000..e69de29 diff --git a/build/nav2_gradient_costmap_plugin/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/nav2_gradient_costmap_plugin b/build/nav2_gradient_costmap_plugin/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/nav2_gradient_costmap_plugin new file mode 100644 index 0000000..6350bc1 --- /dev/null +++ b/build/nav2_gradient_costmap_plugin/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/nav2_gradient_costmap_plugin @@ -0,0 +1 @@ +/opt/ros/humble \ No newline at end of file diff --git a/build/nav2_gradient_costmap_plugin/ament_cmake_package_templates/templates.cmake b/build/nav2_gradient_costmap_plugin/ament_cmake_package_templates/templates.cmake new file mode 100644 index 0000000..42a5a03 --- /dev/null +++ b/build/nav2_gradient_costmap_plugin/ament_cmake_package_templates/templates.cmake @@ -0,0 +1,14 @@ +set(ament_cmake_package_templates_ENVIRONMENT_HOOK_LIBRARY_PATH "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/environment_hook/library_path.sh") +set(ament_cmake_package_templates_ENVIRONMENT_HOOK_PYTHONPATH "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/environment_hook/pythonpath.sh.in") +set(ament_cmake_package_templates_PACKAGE_LEVEL "") +list(APPEND ament_cmake_package_templates_PACKAGE_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/package_level/local_setup.bash.in") +list(APPEND ament_cmake_package_templates_PACKAGE_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/package_level/local_setup.sh.in") +list(APPEND ament_cmake_package_templates_PACKAGE_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/package_level/local_setup.zsh.in") +set(ament_cmake_package_templates_PREFIX_LEVEL "") +list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/local_setup.bash") +list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/local_setup.sh.in") +list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/local_setup.zsh") +list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/setup.bash") +list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/setup.sh.in") +list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/setup.zsh") +list(APPEND ament_cmake_package_templates_PREFIX_LEVEL "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/prefix_level/_local_setup_util.py") diff --git a/build/nav2_gradient_costmap_plugin/ament_cmake_uninstall_target/ament_cmake_uninstall_target.cmake b/build/nav2_gradient_costmap_plugin/ament_cmake_uninstall_target/ament_cmake_uninstall_target.cmake new file mode 100644 index 0000000..8712643 --- /dev/null +++ b/build/nav2_gradient_costmap_plugin/ament_cmake_uninstall_target/ament_cmake_uninstall_target.cmake @@ -0,0 +1,57 @@ +# generated from +# ament_cmake_core/cmake/uninstall_target/ament_cmake_uninstall_target.cmake.in + +function(ament_cmake_uninstall_target_remove_empty_directories path) + set(install_space "/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin") + if(install_space STREQUAL "") + message(FATAL_ERROR "The CMAKE_INSTALL_PREFIX variable must not be empty") + endif() + + string(LENGTH "${install_space}" length) + string(SUBSTRING "${path}" 0 ${length} path_prefix) + if(NOT path_prefix STREQUAL install_space) + message(FATAL_ERROR "The path '${path}' must be within the install space '${install_space}'") + endif() + if(path STREQUAL install_space) + return() + endif() + + # check if directory is empty + file(GLOB files "${path}/*") + list(LENGTH files length) + if(length EQUAL 0) + message(STATUS "Uninstalling: ${path}/") + execute_process(COMMAND "/usr/bin/cmake" "-E" "remove_directory" "${path}") + # recursively try to remove parent directories + get_filename_component(parent_path "${path}" PATH) + ament_cmake_uninstall_target_remove_empty_directories("${parent_path}") + endif() +endfunction() + +# uninstall files installed using the standard install() function +set(install_manifest "/home/user/work/nav2_plugin/build/nav2_gradient_costmap_plugin/install_manifest.txt") +if(NOT EXISTS "${install_manifest}") + message(FATAL_ERROR "Cannot find install manifest: ${install_manifest}") +endif() + +file(READ "${install_manifest}" installed_files) +string(REGEX REPLACE "\n" ";" installed_files "${installed_files}") +foreach(installed_file ${installed_files}) + if(EXISTS "${installed_file}" OR IS_SYMLINK "${installed_file}") + message(STATUS "Uninstalling: ${installed_file}") + file(REMOVE "${installed_file}") + if(EXISTS "${installed_file}" OR IS_SYMLINK "${installed_file}") + message(FATAL_ERROR "Failed to remove '${installed_file}'") + endif() + + # remove empty parent folders + get_filename_component(parent_path "${installed_file}" PATH) + ament_cmake_uninstall_target_remove_empty_directories("${parent_path}") + endif() +endforeach() + +# end of template + +message(STATUS "Execute custom uninstall script") + +# begin of custom uninstall code diff --git a/build/nav2_gradient_costmap_plugin/cmake_args.last b/build/nav2_gradient_costmap_plugin/cmake_args.last new file mode 100644 index 0000000..4af1832 --- /dev/null +++ b/build/nav2_gradient_costmap_plugin/cmake_args.last @@ -0,0 +1 @@ +None \ No newline at end of file diff --git a/build/nav2_gradient_costmap_plugin/cmake_install.cmake b/build/nav2_gradient_costmap_plugin/cmake_install.cmake new file mode 100644 index 0000000..5592279 --- /dev/null +++ b/build/nav2_gradient_costmap_plugin/cmake_install.cmake @@ -0,0 +1,164 @@ +# Install script for directory: /home/user/work/nav2_plugin + +# Set the install prefix +if(NOT DEFINED CMAKE_INSTALL_PREFIX) + set(CMAKE_INSTALL_PREFIX "/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin") +endif() +string(REGEX REPLACE "/$" "" 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 "${COMPONENT}") + else() + set(CMAKE_INSTALL_COMPONENT) + endif() +endif() + +# Install shared libraries without execute permission? +if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) + set(CMAKE_INSTALL_SO_NO_EXE "1") +endif() + +# Is this installation the result of a crosscompile? +if(NOT DEFINED CMAKE_CROSSCOMPILING) + set(CMAKE_CROSSCOMPILING "FALSE") +endif() + +# Set default install directory permissions. +if(NOT DEFINED CMAKE_OBJDUMP) + set(CMAKE_OBJDUMP "/usr/bin/objdump") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libnav2_gradient_costmap_plugin_core.so" AND + NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libnav2_gradient_costmap_plugin_core.so") + file(RPATH_CHECK + FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libnav2_gradient_costmap_plugin_core.so" + RPATH "") + endif() + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib" TYPE SHARED_LIBRARY FILES "/home/user/work/nav2_plugin/build/nav2_gradient_costmap_plugin/libnav2_gradient_costmap_plugin_core.so") + if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libnav2_gradient_costmap_plugin_core.so" AND + NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libnav2_gradient_costmap_plugin_core.so") + file(RPATH_CHANGE + FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libnav2_gradient_costmap_plugin_core.so" + OLD_RPATH "/opt/ros/humble/lib:" + NEW_RPATH "") + if(CMAKE_INSTALL_DO_STRIP) + execute_process(COMMAND "/usr/bin/strip" "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libnav2_gradient_costmap_plugin_core.so") + endif() + endif() +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/nav2_gradient_costmap_plugin/talker" AND + NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/nav2_gradient_costmap_plugin/talker") + file(RPATH_CHECK + FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/nav2_gradient_costmap_plugin/talker" + RPATH "") + endif() + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/nav2_gradient_costmap_plugin" TYPE EXECUTABLE FILES "/home/user/work/nav2_plugin/build/nav2_gradient_costmap_plugin/talker") + if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/nav2_gradient_costmap_plugin/talker" AND + NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/nav2_gradient_costmap_plugin/talker") + file(RPATH_CHANGE + FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/nav2_gradient_costmap_plugin/talker" + OLD_RPATH "/opt/ros/humble/lib:" + NEW_RPATH "") + if(CMAKE_INSTALL_DO_STRIP) + execute_process(COMMAND "/usr/bin/strip" "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/nav2_gradient_costmap_plugin/talker") + endif() + endif() +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/nav2_gradient_costmap_plugin" TYPE FILE FILES "/home/user/work/nav2_plugin/gradient_layer.xml") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/ament_index/resource_index/package_run_dependencies" TYPE FILE FILES "/home/user/work/nav2_plugin/build/nav2_gradient_costmap_plugin/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/nav2_gradient_costmap_plugin") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/ament_index/resource_index/parent_prefix_path" TYPE FILE FILES "/home/user/work/nav2_plugin/build/nav2_gradient_costmap_plugin/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/nav2_gradient_costmap_plugin") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/nav2_gradient_costmap_plugin/environment" TYPE FILE FILES "/opt/ros/humble/share/ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/nav2_gradient_costmap_plugin/environment" TYPE FILE FILES "/home/user/work/nav2_plugin/build/nav2_gradient_costmap_plugin/ament_cmake_environment_hooks/ament_prefix_path.dsv") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/nav2_gradient_costmap_plugin/environment" TYPE FILE FILES "/opt/ros/humble/share/ament_cmake_core/cmake/environment_hooks/environment/path.sh") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/nav2_gradient_costmap_plugin/environment" TYPE FILE FILES "/home/user/work/nav2_plugin/build/nav2_gradient_costmap_plugin/ament_cmake_environment_hooks/path.dsv") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/nav2_gradient_costmap_plugin" TYPE FILE FILES "/home/user/work/nav2_plugin/build/nav2_gradient_costmap_plugin/ament_cmake_environment_hooks/local_setup.bash") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/nav2_gradient_costmap_plugin" TYPE FILE FILES "/home/user/work/nav2_plugin/build/nav2_gradient_costmap_plugin/ament_cmake_environment_hooks/local_setup.sh") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/nav2_gradient_costmap_plugin" TYPE FILE FILES "/home/user/work/nav2_plugin/build/nav2_gradient_costmap_plugin/ament_cmake_environment_hooks/local_setup.zsh") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/nav2_gradient_costmap_plugin" TYPE FILE FILES "/home/user/work/nav2_plugin/build/nav2_gradient_costmap_plugin/ament_cmake_environment_hooks/local_setup.dsv") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/nav2_gradient_costmap_plugin" TYPE FILE FILES "/home/user/work/nav2_plugin/build/nav2_gradient_costmap_plugin/ament_cmake_environment_hooks/package.dsv") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/ament_index/resource_index/packages" TYPE FILE FILES "/home/user/work/nav2_plugin/build/nav2_gradient_costmap_plugin/ament_cmake_index/share/ament_index/resource_index/packages/nav2_gradient_costmap_plugin") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/ament_index/resource_index/nav2_costmap_2d__pluginlib__plugin" TYPE FILE FILES "/home/user/work/nav2_plugin/build/nav2_gradient_costmap_plugin/ament_cmake_index/share/ament_index/resource_index/nav2_costmap_2d__pluginlib__plugin/nav2_gradient_costmap_plugin") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/nav2_gradient_costmap_plugin/cmake" TYPE FILE FILES + "/home/user/work/nav2_plugin/build/nav2_gradient_costmap_plugin/ament_cmake_core/nav2_gradient_costmap_pluginConfig.cmake" + "/home/user/work/nav2_plugin/build/nav2_gradient_costmap_plugin/ament_cmake_core/nav2_gradient_costmap_pluginConfig-version.cmake" + ) +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/nav2_gradient_costmap_plugin" TYPE FILE FILES "/home/user/work/nav2_plugin/package.xml") +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/user/work/nav2_plugin/build/nav2_gradient_costmap_plugin/${CMAKE_INSTALL_MANIFEST}" + "${CMAKE_INSTALL_MANIFEST_CONTENT}") diff --git a/build/nav2_gradient_costmap_plugin/colcon_build.rc b/build/nav2_gradient_costmap_plugin/colcon_build.rc new file mode 100644 index 0000000..573541a --- /dev/null +++ b/build/nav2_gradient_costmap_plugin/colcon_build.rc @@ -0,0 +1 @@ +0 diff --git a/build/nav2_gradient_costmap_plugin/colcon_command_prefix_build.sh b/build/nav2_gradient_costmap_plugin/colcon_command_prefix_build.sh new file mode 100644 index 0000000..f9867d5 --- /dev/null +++ b/build/nav2_gradient_costmap_plugin/colcon_command_prefix_build.sh @@ -0,0 +1 @@ +# generated from colcon_core/shell/template/command_prefix.sh.em diff --git a/build/nav2_gradient_costmap_plugin/colcon_command_prefix_build.sh.env b/build/nav2_gradient_costmap_plugin/colcon_command_prefix_build.sh.env new file mode 100644 index 0000000..1a913eb --- /dev/null +++ b/build/nav2_gradient_costmap_plugin/colcon_command_prefix_build.sh.env @@ -0,0 +1,66 @@ +AMENT_PREFIX_PATH=/opt/ros/humble +COLCON=1 +COLORTERM=truecolor +DBUS_SESSION_BUS_ADDRESS=unix:path=/run/user/1000/bus +DESKTOP_SESSION=ubuntu +DISPLAY=:0 +GAZEBO_MODEL_PATH=:/opt/ros/humble/share/turtlebot3_gazebo/models +GDMSESSION=ubuntu +GNOME_DESKTOP_SESSION_ID=this-is-deprecated +GNOME_SETUP_DISPLAY=:1 +GNOME_SHELL_SESSION_MODE=ubuntu +GNOME_TERMINAL_SCREEN=/org/gnome/Terminal/screen/5ba53bf2_2516_496d_96e7_d283acaf496c +GNOME_TERMINAL_SERVICE=:1.107 +GTK_MODULES=gail:atk-bridge +HOME=/home/user +IM_CONFIG_PHASE=1 +LANG=en_US.UTF-8 +LANGUAGE=en_US: +LC_ADDRESS=zh_CN.UTF-8 +LC_ALL=en_US.UTF-8 +LC_IDENTIFICATION=zh_CN.UTF-8 +LC_MEASUREMENT=zh_CN.UTF-8 +LC_MONETARY=zh_CN.UTF-8 +LC_NAME=zh_CN.UTF-8 +LC_NUMERIC=zh_CN.UTF-8 +LC_PAPER=zh_CN.UTF-8 +LC_TELEPHONE=zh_CN.UTF-8 +LC_TIME=zh_CN.UTF-8 +LD_LIBRARY_PATH=/usr/lib/x86_64-linux-gnu/gazebo-11/plugins:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib +LESSCLOSE=/usr/bin/lesspipe %s %s +LESSOPEN=| /usr/bin/lesspipe %s +LOGNAME=user +LS_COLORS=rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.webp=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36: +OLDPWD=/home/user/work +PATH=/opt/ros/humble/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/snap/bin +PWD=/home/user/work/nav2_plugin/build/nav2_gradient_costmap_plugin +PYTHONPATH=/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages +QT_ACCESSIBILITY=1 +QT_IM_MODULE=ibus +ROS_DISTRO=humble +ROS_LOCALHOST_ONLY=0 +ROS_PYTHON_VERSION=3 +ROS_VERSION=2 +SESSION_MANAGER=local/ubuntu22:@/tmp/.ICE-unix/1997,unix/ubuntu22:/tmp/.ICE-unix/1997 +SHELL=/bin/bash +SHLVL=1 +SSH_AGENT_LAUNCHER=gnome-keyring +SSH_AUTH_SOCK=/run/user/1000/keyring/ssh +SYSTEMD_EXEC_PID=2021 +TERM=xterm-256color +TURTLEBOT3_MODEL=waffle +USER=user +USERNAME=user +VTE_VERSION=6800 +WAYLAND_DISPLAY=wayland-0 +XAUTHORITY=/run/user/1000/.mutter-Xwaylandauth.LSE121 +XDG_CONFIG_DIRS=/etc/xdg/xdg-ubuntu:/etc/xdg +XDG_CURRENT_DESKTOP=ubuntu:GNOME +XDG_DATA_DIRS=/usr/share/ubuntu:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop +XDG_MENU_PREFIX=gnome- +XDG_RUNTIME_DIR=/run/user/1000 +XDG_SESSION_CLASS=user +XDG_SESSION_DESKTOP=ubuntu +XDG_SESSION_TYPE=wayland +XMODIFIERS=@im=ibus +_=/usr/bin/colcon diff --git a/build/nav2_gradient_costmap_plugin/install_manifest.txt b/build/nav2_gradient_costmap_plugin/install_manifest.txt new file mode 100644 index 0000000..d5fb31a --- /dev/null +++ b/build/nav2_gradient_costmap_plugin/install_manifest.txt @@ -0,0 +1,19 @@ +/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/lib/libnav2_gradient_costmap_plugin_core.so +/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/lib/nav2_gradient_costmap_plugin/talker +/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/gradient_layer.xml +/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/ament_index/resource_index/package_run_dependencies/nav2_gradient_costmap_plugin +/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/ament_index/resource_index/parent_prefix_path/nav2_gradient_costmap_plugin +/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/environment/ament_prefix_path.sh +/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/environment/ament_prefix_path.dsv +/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/environment/path.sh +/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/environment/path.dsv +/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/local_setup.bash +/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/local_setup.sh +/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/local_setup.zsh +/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/local_setup.dsv +/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/package.dsv +/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/ament_index/resource_index/packages/nav2_gradient_costmap_plugin +/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/ament_index/resource_index/nav2_costmap_2d__pluginlib__plugin/nav2_gradient_costmap_plugin +/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/cmake/nav2_gradient_costmap_pluginConfig.cmake +/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/cmake/nav2_gradient_costmap_pluginConfig-version.cmake +/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/package.xml \ No newline at end of file diff --git a/build/nav2_gradient_costmap_plugin/libnav2_gradient_costmap_plugin_core.so b/build/nav2_gradient_costmap_plugin/libnav2_gradient_costmap_plugin_core.so new file mode 100755 index 0000000..076d621 Binary files /dev/null and b/build/nav2_gradient_costmap_plugin/libnav2_gradient_costmap_plugin_core.so differ diff --git a/build/nav2_gradient_costmap_plugin/talker b/build/nav2_gradient_costmap_plugin/talker new file mode 100755 index 0000000..2f9db2c Binary files /dev/null and b/build/nav2_gradient_costmap_plugin/talker differ diff --git a/gradient_layer.xml b/gradient_layer.xml new file mode 100644 index 0000000..259fa56 --- /dev/null +++ b/gradient_layer.xml @@ -0,0 +1,5 @@ + + + This is an example plugin which puts repeating costs gradients to costmap + + diff --git a/include/nav2_gradient_costmap_plugin/gradient_layer.hpp b/include/nav2_gradient_costmap_plugin/gradient_layer.hpp new file mode 100644 index 0000000..67b1b32 --- /dev/null +++ b/include/nav2_gradient_costmap_plugin/gradient_layer.hpp @@ -0,0 +1,120 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, 2013, Willow Garage, Inc. + * Copyright (c) 2020, Samsung R&D Institute Russia + * 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. + * + * Author: Eitan Marder-Eppstein + * David V. Lu!! + * Alexey Merzlyakov + * + * Reference tutorial: + * https://navigation.ros.org/tutorials/docs/writing_new_costmap2d_plugin.html + *********************************************************************/ +#ifndef GRADIENT_LAYER_HPP_ +#define GRADIENT_LAYER_HPP_ + +#include "rclcpp/rclcpp.hpp" +#include "nav2_costmap_2d/layer.hpp" +#include "nav2_costmap_2d/layered_costmap.hpp" +#include "nav2_costmap_2d/footprint.hpp" +#include "nav2_costmap_2d/costmap_layer.hpp" +#include "nav2_costmap_2d/layered_costmap.hpp" +#include "nav_msgs/msg/occupancy_grid.hpp" +#include "std_msgs/msg/string.hpp" + +namespace nav2_gradient_costmap_plugin +{ + +struct PointInt { +int x; +int y; +PointInt(int x_, int y_):x(x_), y(y_){} +}; + +class GradientLayer : public nav2_costmap_2d::CostmapLayer +{ +public: + GradientLayer(); + + virtual void onInitialize(); + virtual void updateBounds( + double robot_x, double robot_y, double robot_yaw, double * min_x, + double * min_y, + double * max_x, + double * max_y); + virtual void updateCosts( + nav2_costmap_2d::Costmap2D & master_grid, + int min_i, int min_j, int max_i, int max_j); + + virtual void reset() + { + return; + } + + virtual void onFootprintChanged(); + + virtual bool isClearable() {return false;} + + std::vector transformed_footprint_; + std::vector> _free_polygons; + std::vector PointVector; + + void updateFootprint( + double robot_x, double robot_y, double robot_yaw, double * min_x, + double * min_y, + double * max_x, + double * max_y); + + void incomingData(); + + +private: + double last_min_x_, last_min_y_, last_max_x_, last_max_y_; + + // Indicates that the entire gradient should be recalculated next time. + bool need_recalculation_; + + + bool map_received_; + bool rolling_window_; + + + rclcpp::Subscription::SharedPtr data_sub_; + rclcpp::Subscription::SharedPtr subscription_; + + void topic_callback(const geometry_msgs::msg::Point::SharedPtr msg); +}; + +} // namespace nav2_gradient_costmap_plugin + +#endif // GRADIENT_LAYER_HPP_ diff --git a/install/.colcon_install_layout b/install/.colcon_install_layout new file mode 100644 index 0000000..3aad533 --- /dev/null +++ b/install/.colcon_install_layout @@ -0,0 +1 @@ +isolated diff --git a/install/COLCON_IGNORE b/install/COLCON_IGNORE new file mode 100644 index 0000000..e69de29 diff --git a/install/_local_setup_util_ps1.py b/install/_local_setup_util_ps1.py new file mode 100644 index 0000000..98348ee --- /dev/null +++ b/install/_local_setup_util_ps1.py @@ -0,0 +1,404 @@ +# Copyright 2016-2019 Dirk Thomas +# Licensed under the Apache License, Version 2.0 + +import argparse +from collections import OrderedDict +import os +from pathlib import Path +import sys + + +FORMAT_STR_COMMENT_LINE = '# {comment}' +FORMAT_STR_SET_ENV_VAR = 'Set-Item -Path "Env:{name}" -Value "{value}"' +FORMAT_STR_USE_ENV_VAR = '$env:{name}' +FORMAT_STR_INVOKE_SCRIPT = '_colcon_prefix_powershell_source_script "{script_path}"' +FORMAT_STR_REMOVE_LEADING_SEPARATOR = '' +FORMAT_STR_REMOVE_TRAILING_SEPARATOR = '' + +DSV_TYPE_APPEND_NON_DUPLICATE = 'append-non-duplicate' +DSV_TYPE_PREPEND_NON_DUPLICATE = 'prepend-non-duplicate' +DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS = 'prepend-non-duplicate-if-exists' +DSV_TYPE_SET = 'set' +DSV_TYPE_SET_IF_UNSET = 'set-if-unset' +DSV_TYPE_SOURCE = 'source' + + +def main(argv=sys.argv[1:]): # noqa: D103 + parser = argparse.ArgumentParser( + description='Output shell commands for the packages in topological ' + 'order') + parser.add_argument( + 'primary_extension', + help='The file extension of the primary shell') + parser.add_argument( + 'additional_extension', nargs='?', + help='The additional file extension to be considered') + parser.add_argument( + '--merged-install', action='store_true', + help='All install prefixes are merged into a single location') + args = parser.parse_args(argv) + + packages = get_packages(Path(__file__).parent, args.merged_install) + + ordered_packages = order_packages(packages) + for pkg_name in ordered_packages: + if _include_comments(): + print( + FORMAT_STR_COMMENT_LINE.format_map( + {'comment': 'Package: ' + pkg_name})) + prefix = os.path.abspath(os.path.dirname(__file__)) + if not args.merged_install: + prefix = os.path.join(prefix, pkg_name) + for line in get_commands( + pkg_name, prefix, args.primary_extension, + args.additional_extension + ): + print(line) + + for line in _remove_ending_separators(): + print(line) + + +def get_packages(prefix_path, merged_install): + """ + Find packages based on colcon-specific files created during installation. + + :param Path prefix_path: The install prefix path of all packages + :param bool merged_install: The flag if the packages are all installed + directly in the prefix or if each package is installed in a subdirectory + named after the package + :returns: A mapping from the package name to the set of runtime + dependencies + :rtype: dict + """ + packages = {} + # since importing colcon_core isn't feasible here the following constant + # must match colcon_core.location.get_relative_package_index_path() + subdirectory = 'share/colcon-core/packages' + if merged_install: + # return if workspace is empty + if not (prefix_path / subdirectory).is_dir(): + return packages + # find all files in the subdirectory + for p in (prefix_path / subdirectory).iterdir(): + if not p.is_file(): + continue + if p.name.startswith('.'): + continue + add_package_runtime_dependencies(p, packages) + else: + # for each subdirectory look for the package specific file + for p in prefix_path.iterdir(): + if not p.is_dir(): + continue + if p.name.startswith('.'): + continue + p = p / subdirectory / p.name + if p.is_file(): + add_package_runtime_dependencies(p, packages) + + # remove unknown dependencies + pkg_names = set(packages.keys()) + for k in packages.keys(): + packages[k] = {d for d in packages[k] if d in pkg_names} + + return packages + + +def add_package_runtime_dependencies(path, packages): + """ + Check the path and if it exists extract the packages runtime dependencies. + + :param Path path: The resource file containing the runtime dependencies + :param dict packages: A mapping from package names to the sets of runtime + dependencies to add to + """ + content = path.read_text() + dependencies = set(content.split(os.pathsep) if content else []) + packages[path.name] = dependencies + + +def order_packages(packages): + """ + Order packages topologically. + + :param dict packages: A mapping from package name to the set of runtime + dependencies + :returns: The package names + :rtype: list + """ + # select packages with no dependencies in alphabetical order + to_be_ordered = list(packages.keys()) + ordered = [] + while to_be_ordered: + pkg_names_without_deps = [ + name for name in to_be_ordered if not packages[name]] + if not pkg_names_without_deps: + reduce_cycle_set(packages) + raise RuntimeError( + 'Circular dependency between: ' + ', '.join(sorted(packages))) + pkg_names_without_deps.sort() + pkg_name = pkg_names_without_deps[0] + to_be_ordered.remove(pkg_name) + ordered.append(pkg_name) + # remove item from dependency lists + for k in list(packages.keys()): + if pkg_name in packages[k]: + packages[k].remove(pkg_name) + return ordered + + +def reduce_cycle_set(packages): + """ + Reduce the set of packages to the ones part of the circular dependency. + + :param dict packages: A mapping from package name to the set of runtime + dependencies which is modified in place + """ + last_depended = None + while len(packages) > 0: + # get all remaining dependencies + depended = set() + for pkg_name, dependencies in packages.items(): + depended = depended.union(dependencies) + # remove all packages which are not dependent on + for name in list(packages.keys()): + if name not in depended: + del packages[name] + if last_depended: + # if remaining packages haven't changed return them + if last_depended == depended: + return packages.keys() + # otherwise reduce again + last_depended = depended + + +def _include_comments(): + # skipping comment lines when COLCON_TRACE is not set speeds up the + # processing especially on Windows + return bool(os.environ.get('COLCON_TRACE')) + + +def get_commands(pkg_name, prefix, primary_extension, additional_extension): + commands = [] + package_dsv_path = os.path.join(prefix, 'share', pkg_name, 'package.dsv') + if os.path.exists(package_dsv_path): + commands += process_dsv_file( + package_dsv_path, prefix, primary_extension, additional_extension) + return commands + + +def process_dsv_file( + dsv_path, prefix, primary_extension=None, additional_extension=None +): + commands = [] + if _include_comments(): + commands.append(FORMAT_STR_COMMENT_LINE.format_map({'comment': dsv_path})) + with open(dsv_path, 'r') as h: + content = h.read() + lines = content.splitlines() + + basenames = OrderedDict() + for i, line in enumerate(lines): + # skip over empty or whitespace-only lines + if not line.strip(): + continue + try: + type_, remainder = line.split(';', 1) + except ValueError: + raise RuntimeError( + "Line %d in '%s' doesn't contain a semicolon separating the " + 'type from the arguments' % (i + 1, dsv_path)) + if type_ != DSV_TYPE_SOURCE: + # handle non-source lines + try: + commands += handle_dsv_types_except_source( + type_, remainder, prefix) + except RuntimeError as e: + raise RuntimeError( + "Line %d in '%s' %s" % (i + 1, dsv_path, e)) from e + else: + # group remaining source lines by basename + path_without_ext, ext = os.path.splitext(remainder) + if path_without_ext not in basenames: + basenames[path_without_ext] = set() + assert ext.startswith('.') + ext = ext[1:] + if ext in (primary_extension, additional_extension): + basenames[path_without_ext].add(ext) + + # add the dsv extension to each basename if the file exists + for basename, extensions in basenames.items(): + if not os.path.isabs(basename): + basename = os.path.join(prefix, basename) + if os.path.exists(basename + '.dsv'): + extensions.add('dsv') + + for basename, extensions in basenames.items(): + if not os.path.isabs(basename): + basename = os.path.join(prefix, basename) + if 'dsv' in extensions: + # process dsv files recursively + commands += process_dsv_file( + basename + '.dsv', prefix, primary_extension=primary_extension, + additional_extension=additional_extension) + elif primary_extension in extensions and len(extensions) == 1: + # source primary-only files + commands += [ + FORMAT_STR_INVOKE_SCRIPT.format_map({ + 'prefix': prefix, + 'script_path': basename + '.' + primary_extension})] + elif additional_extension in extensions: + # source non-primary files + commands += [ + FORMAT_STR_INVOKE_SCRIPT.format_map({ + 'prefix': prefix, + 'script_path': basename + '.' + additional_extension})] + + return commands + + +def handle_dsv_types_except_source(type_, remainder, prefix): + commands = [] + if type_ in (DSV_TYPE_SET, DSV_TYPE_SET_IF_UNSET): + try: + env_name, value = remainder.split(';', 1) + except ValueError: + raise RuntimeError( + "doesn't contain a semicolon separating the environment name " + 'from the value') + try_prefixed_value = os.path.join(prefix, value) if value else prefix + if os.path.exists(try_prefixed_value): + value = try_prefixed_value + if type_ == DSV_TYPE_SET: + commands += _set(env_name, value) + elif type_ == DSV_TYPE_SET_IF_UNSET: + commands += _set_if_unset(env_name, value) + else: + assert False + elif type_ in ( + DSV_TYPE_APPEND_NON_DUPLICATE, + DSV_TYPE_PREPEND_NON_DUPLICATE, + DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS + ): + try: + env_name_and_values = remainder.split(';') + except ValueError: + raise RuntimeError( + "doesn't contain a semicolon separating the environment name " + 'from the values') + env_name = env_name_and_values[0] + values = env_name_and_values[1:] + for value in values: + if not value: + value = prefix + elif not os.path.isabs(value): + value = os.path.join(prefix, value) + if ( + type_ == DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS and + not os.path.exists(value) + ): + comment = f'skip extending {env_name} with not existing ' \ + f'path: {value}' + if _include_comments(): + commands.append( + FORMAT_STR_COMMENT_LINE.format_map({'comment': comment})) + elif type_ == DSV_TYPE_APPEND_NON_DUPLICATE: + commands += _append_unique_value(env_name, value) + else: + commands += _prepend_unique_value(env_name, value) + else: + raise RuntimeError( + 'contains an unknown environment hook type: ' + type_) + return commands + + +env_state = {} + + +def _append_unique_value(name, value): + global env_state + if name not in env_state: + if os.environ.get(name): + env_state[name] = set(os.environ[name].split(os.pathsep)) + else: + env_state[name] = set() + # append even if the variable has not been set yet, in case a shell script sets the + # same variable without the knowledge of this Python script. + # later _remove_ending_separators() will cleanup any unintentional leading separator + extend = FORMAT_STR_USE_ENV_VAR.format_map({'name': name}) + os.pathsep + line = FORMAT_STR_SET_ENV_VAR.format_map( + {'name': name, 'value': extend + value}) + if value not in env_state[name]: + env_state[name].add(value) + else: + if not _include_comments(): + return [] + line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line}) + return [line] + + +def _prepend_unique_value(name, value): + global env_state + if name not in env_state: + if os.environ.get(name): + env_state[name] = set(os.environ[name].split(os.pathsep)) + else: + env_state[name] = set() + # prepend even if the variable has not been set yet, in case a shell script sets the + # same variable without the knowledge of this Python script. + # later _remove_ending_separators() will cleanup any unintentional trailing separator + extend = os.pathsep + FORMAT_STR_USE_ENV_VAR.format_map({'name': name}) + line = FORMAT_STR_SET_ENV_VAR.format_map( + {'name': name, 'value': value + extend}) + if value not in env_state[name]: + env_state[name].add(value) + else: + if not _include_comments(): + return [] + line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line}) + return [line] + + +# generate commands for removing prepended underscores +def _remove_ending_separators(): + # do nothing if the shell extension does not implement the logic + if FORMAT_STR_REMOVE_TRAILING_SEPARATOR is None: + return [] + + global env_state + commands = [] + for name in env_state: + # skip variables that already had values before this script started prepending + if name in os.environ: + continue + commands += [ + FORMAT_STR_REMOVE_LEADING_SEPARATOR.format_map({'name': name}), + FORMAT_STR_REMOVE_TRAILING_SEPARATOR.format_map({'name': name})] + return commands + + +def _set(name, value): + global env_state + env_state[name] = value + line = FORMAT_STR_SET_ENV_VAR.format_map( + {'name': name, 'value': value}) + return [line] + + +def _set_if_unset(name, value): + global env_state + line = FORMAT_STR_SET_ENV_VAR.format_map( + {'name': name, 'value': value}) + if env_state.get(name, os.environ.get(name)): + line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line}) + return [line] + + +if __name__ == '__main__': # pragma: no cover + try: + rc = main() + except RuntimeError as e: + print(str(e), file=sys.stderr) + rc = 1 + sys.exit(rc) diff --git a/install/_local_setup_util_sh.py b/install/_local_setup_util_sh.py new file mode 100644 index 0000000..35c017b --- /dev/null +++ b/install/_local_setup_util_sh.py @@ -0,0 +1,404 @@ +# Copyright 2016-2019 Dirk Thomas +# Licensed under the Apache License, Version 2.0 + +import argparse +from collections import OrderedDict +import os +from pathlib import Path +import sys + + +FORMAT_STR_COMMENT_LINE = '# {comment}' +FORMAT_STR_SET_ENV_VAR = 'export {name}="{value}"' +FORMAT_STR_USE_ENV_VAR = '${name}' +FORMAT_STR_INVOKE_SCRIPT = 'COLCON_CURRENT_PREFIX="{prefix}" _colcon_prefix_sh_source_script "{script_path}"' +FORMAT_STR_REMOVE_LEADING_SEPARATOR = 'if [ "$(echo -n ${name} | head -c 1)" = ":" ]; then export {name}=${{{name}#?}} ; fi' +FORMAT_STR_REMOVE_TRAILING_SEPARATOR = 'if [ "$(echo -n ${name} | tail -c 1)" = ":" ]; then export {name}=${{{name}%?}} ; fi' + +DSV_TYPE_APPEND_NON_DUPLICATE = 'append-non-duplicate' +DSV_TYPE_PREPEND_NON_DUPLICATE = 'prepend-non-duplicate' +DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS = 'prepend-non-duplicate-if-exists' +DSV_TYPE_SET = 'set' +DSV_TYPE_SET_IF_UNSET = 'set-if-unset' +DSV_TYPE_SOURCE = 'source' + + +def main(argv=sys.argv[1:]): # noqa: D103 + parser = argparse.ArgumentParser( + description='Output shell commands for the packages in topological ' + 'order') + parser.add_argument( + 'primary_extension', + help='The file extension of the primary shell') + parser.add_argument( + 'additional_extension', nargs='?', + help='The additional file extension to be considered') + parser.add_argument( + '--merged-install', action='store_true', + help='All install prefixes are merged into a single location') + args = parser.parse_args(argv) + + packages = get_packages(Path(__file__).parent, args.merged_install) + + ordered_packages = order_packages(packages) + for pkg_name in ordered_packages: + if _include_comments(): + print( + FORMAT_STR_COMMENT_LINE.format_map( + {'comment': 'Package: ' + pkg_name})) + prefix = os.path.abspath(os.path.dirname(__file__)) + if not args.merged_install: + prefix = os.path.join(prefix, pkg_name) + for line in get_commands( + pkg_name, prefix, args.primary_extension, + args.additional_extension + ): + print(line) + + for line in _remove_ending_separators(): + print(line) + + +def get_packages(prefix_path, merged_install): + """ + Find packages based on colcon-specific files created during installation. + + :param Path prefix_path: The install prefix path of all packages + :param bool merged_install: The flag if the packages are all installed + directly in the prefix or if each package is installed in a subdirectory + named after the package + :returns: A mapping from the package name to the set of runtime + dependencies + :rtype: dict + """ + packages = {} + # since importing colcon_core isn't feasible here the following constant + # must match colcon_core.location.get_relative_package_index_path() + subdirectory = 'share/colcon-core/packages' + if merged_install: + # return if workspace is empty + if not (prefix_path / subdirectory).is_dir(): + return packages + # find all files in the subdirectory + for p in (prefix_path / subdirectory).iterdir(): + if not p.is_file(): + continue + if p.name.startswith('.'): + continue + add_package_runtime_dependencies(p, packages) + else: + # for each subdirectory look for the package specific file + for p in prefix_path.iterdir(): + if not p.is_dir(): + continue + if p.name.startswith('.'): + continue + p = p / subdirectory / p.name + if p.is_file(): + add_package_runtime_dependencies(p, packages) + + # remove unknown dependencies + pkg_names = set(packages.keys()) + for k in packages.keys(): + packages[k] = {d for d in packages[k] if d in pkg_names} + + return packages + + +def add_package_runtime_dependencies(path, packages): + """ + Check the path and if it exists extract the packages runtime dependencies. + + :param Path path: The resource file containing the runtime dependencies + :param dict packages: A mapping from package names to the sets of runtime + dependencies to add to + """ + content = path.read_text() + dependencies = set(content.split(os.pathsep) if content else []) + packages[path.name] = dependencies + + +def order_packages(packages): + """ + Order packages topologically. + + :param dict packages: A mapping from package name to the set of runtime + dependencies + :returns: The package names + :rtype: list + """ + # select packages with no dependencies in alphabetical order + to_be_ordered = list(packages.keys()) + ordered = [] + while to_be_ordered: + pkg_names_without_deps = [ + name for name in to_be_ordered if not packages[name]] + if not pkg_names_without_deps: + reduce_cycle_set(packages) + raise RuntimeError( + 'Circular dependency between: ' + ', '.join(sorted(packages))) + pkg_names_without_deps.sort() + pkg_name = pkg_names_without_deps[0] + to_be_ordered.remove(pkg_name) + ordered.append(pkg_name) + # remove item from dependency lists + for k in list(packages.keys()): + if pkg_name in packages[k]: + packages[k].remove(pkg_name) + return ordered + + +def reduce_cycle_set(packages): + """ + Reduce the set of packages to the ones part of the circular dependency. + + :param dict packages: A mapping from package name to the set of runtime + dependencies which is modified in place + """ + last_depended = None + while len(packages) > 0: + # get all remaining dependencies + depended = set() + for pkg_name, dependencies in packages.items(): + depended = depended.union(dependencies) + # remove all packages which are not dependent on + for name in list(packages.keys()): + if name not in depended: + del packages[name] + if last_depended: + # if remaining packages haven't changed return them + if last_depended == depended: + return packages.keys() + # otherwise reduce again + last_depended = depended + + +def _include_comments(): + # skipping comment lines when COLCON_TRACE is not set speeds up the + # processing especially on Windows + return bool(os.environ.get('COLCON_TRACE')) + + +def get_commands(pkg_name, prefix, primary_extension, additional_extension): + commands = [] + package_dsv_path = os.path.join(prefix, 'share', pkg_name, 'package.dsv') + if os.path.exists(package_dsv_path): + commands += process_dsv_file( + package_dsv_path, prefix, primary_extension, additional_extension) + return commands + + +def process_dsv_file( + dsv_path, prefix, primary_extension=None, additional_extension=None +): + commands = [] + if _include_comments(): + commands.append(FORMAT_STR_COMMENT_LINE.format_map({'comment': dsv_path})) + with open(dsv_path, 'r') as h: + content = h.read() + lines = content.splitlines() + + basenames = OrderedDict() + for i, line in enumerate(lines): + # skip over empty or whitespace-only lines + if not line.strip(): + continue + try: + type_, remainder = line.split(';', 1) + except ValueError: + raise RuntimeError( + "Line %d in '%s' doesn't contain a semicolon separating the " + 'type from the arguments' % (i + 1, dsv_path)) + if type_ != DSV_TYPE_SOURCE: + # handle non-source lines + try: + commands += handle_dsv_types_except_source( + type_, remainder, prefix) + except RuntimeError as e: + raise RuntimeError( + "Line %d in '%s' %s" % (i + 1, dsv_path, e)) from e + else: + # group remaining source lines by basename + path_without_ext, ext = os.path.splitext(remainder) + if path_without_ext not in basenames: + basenames[path_without_ext] = set() + assert ext.startswith('.') + ext = ext[1:] + if ext in (primary_extension, additional_extension): + basenames[path_without_ext].add(ext) + + # add the dsv extension to each basename if the file exists + for basename, extensions in basenames.items(): + if not os.path.isabs(basename): + basename = os.path.join(prefix, basename) + if os.path.exists(basename + '.dsv'): + extensions.add('dsv') + + for basename, extensions in basenames.items(): + if not os.path.isabs(basename): + basename = os.path.join(prefix, basename) + if 'dsv' in extensions: + # process dsv files recursively + commands += process_dsv_file( + basename + '.dsv', prefix, primary_extension=primary_extension, + additional_extension=additional_extension) + elif primary_extension in extensions and len(extensions) == 1: + # source primary-only files + commands += [ + FORMAT_STR_INVOKE_SCRIPT.format_map({ + 'prefix': prefix, + 'script_path': basename + '.' + primary_extension})] + elif additional_extension in extensions: + # source non-primary files + commands += [ + FORMAT_STR_INVOKE_SCRIPT.format_map({ + 'prefix': prefix, + 'script_path': basename + '.' + additional_extension})] + + return commands + + +def handle_dsv_types_except_source(type_, remainder, prefix): + commands = [] + if type_ in (DSV_TYPE_SET, DSV_TYPE_SET_IF_UNSET): + try: + env_name, value = remainder.split(';', 1) + except ValueError: + raise RuntimeError( + "doesn't contain a semicolon separating the environment name " + 'from the value') + try_prefixed_value = os.path.join(prefix, value) if value else prefix + if os.path.exists(try_prefixed_value): + value = try_prefixed_value + if type_ == DSV_TYPE_SET: + commands += _set(env_name, value) + elif type_ == DSV_TYPE_SET_IF_UNSET: + commands += _set_if_unset(env_name, value) + else: + assert False + elif type_ in ( + DSV_TYPE_APPEND_NON_DUPLICATE, + DSV_TYPE_PREPEND_NON_DUPLICATE, + DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS + ): + try: + env_name_and_values = remainder.split(';') + except ValueError: + raise RuntimeError( + "doesn't contain a semicolon separating the environment name " + 'from the values') + env_name = env_name_and_values[0] + values = env_name_and_values[1:] + for value in values: + if not value: + value = prefix + elif not os.path.isabs(value): + value = os.path.join(prefix, value) + if ( + type_ == DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS and + not os.path.exists(value) + ): + comment = f'skip extending {env_name} with not existing ' \ + f'path: {value}' + if _include_comments(): + commands.append( + FORMAT_STR_COMMENT_LINE.format_map({'comment': comment})) + elif type_ == DSV_TYPE_APPEND_NON_DUPLICATE: + commands += _append_unique_value(env_name, value) + else: + commands += _prepend_unique_value(env_name, value) + else: + raise RuntimeError( + 'contains an unknown environment hook type: ' + type_) + return commands + + +env_state = {} + + +def _append_unique_value(name, value): + global env_state + if name not in env_state: + if os.environ.get(name): + env_state[name] = set(os.environ[name].split(os.pathsep)) + else: + env_state[name] = set() + # append even if the variable has not been set yet, in case a shell script sets the + # same variable without the knowledge of this Python script. + # later _remove_ending_separators() will cleanup any unintentional leading separator + extend = FORMAT_STR_USE_ENV_VAR.format_map({'name': name}) + os.pathsep + line = FORMAT_STR_SET_ENV_VAR.format_map( + {'name': name, 'value': extend + value}) + if value not in env_state[name]: + env_state[name].add(value) + else: + if not _include_comments(): + return [] + line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line}) + return [line] + + +def _prepend_unique_value(name, value): + global env_state + if name not in env_state: + if os.environ.get(name): + env_state[name] = set(os.environ[name].split(os.pathsep)) + else: + env_state[name] = set() + # prepend even if the variable has not been set yet, in case a shell script sets the + # same variable without the knowledge of this Python script. + # later _remove_ending_separators() will cleanup any unintentional trailing separator + extend = os.pathsep + FORMAT_STR_USE_ENV_VAR.format_map({'name': name}) + line = FORMAT_STR_SET_ENV_VAR.format_map( + {'name': name, 'value': value + extend}) + if value not in env_state[name]: + env_state[name].add(value) + else: + if not _include_comments(): + return [] + line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line}) + return [line] + + +# generate commands for removing prepended underscores +def _remove_ending_separators(): + # do nothing if the shell extension does not implement the logic + if FORMAT_STR_REMOVE_TRAILING_SEPARATOR is None: + return [] + + global env_state + commands = [] + for name in env_state: + # skip variables that already had values before this script started prepending + if name in os.environ: + continue + commands += [ + FORMAT_STR_REMOVE_LEADING_SEPARATOR.format_map({'name': name}), + FORMAT_STR_REMOVE_TRAILING_SEPARATOR.format_map({'name': name})] + return commands + + +def _set(name, value): + global env_state + env_state[name] = value + line = FORMAT_STR_SET_ENV_VAR.format_map( + {'name': name, 'value': value}) + return [line] + + +def _set_if_unset(name, value): + global env_state + line = FORMAT_STR_SET_ENV_VAR.format_map( + {'name': name, 'value': value}) + if env_state.get(name, os.environ.get(name)): + line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line}) + return [line] + + +if __name__ == '__main__': # pragma: no cover + try: + rc = main() + except RuntimeError as e: + print(str(e), file=sys.stderr) + rc = 1 + sys.exit(rc) diff --git a/install/local_setup.bash b/install/local_setup.bash new file mode 100644 index 0000000..efd5f8c --- /dev/null +++ b/install/local_setup.bash @@ -0,0 +1,107 @@ +# generated from colcon_bash/shell/template/prefix.bash.em + +# This script extends the environment with all packages contained in this +# prefix path. + +# a bash script is able to determine its own path if necessary +if [ -z "$COLCON_CURRENT_PREFIX" ]; then + _colcon_prefix_bash_COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)" +else + _colcon_prefix_bash_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX" +fi + +# function to prepend a value to a variable +# which uses colons as separators +# duplicates as well as trailing separators are avoided +# first argument: the name of the result variable +# second argument: the value to be prepended +_colcon_prefix_bash_prepend_unique_value() { + # arguments + _listname="$1" + _value="$2" + + # get values from variable + eval _values=\"\$$_listname\" + # backup the field separator + _colcon_prefix_bash_prepend_unique_value_IFS="$IFS" + IFS=":" + # start with the new value + _all_values="$_value" + # iterate over existing values in the variable + for _item in $_values; do + # ignore empty strings + if [ -z "$_item" ]; then + continue + fi + # ignore duplicates of _value + if [ "$_item" = "$_value" ]; then + continue + fi + # keep non-duplicate values + _all_values="$_all_values:$_item" + done + unset _item + # restore the field separator + IFS="$_colcon_prefix_bash_prepend_unique_value_IFS" + unset _colcon_prefix_bash_prepend_unique_value_IFS + # export the updated variable + eval export $_listname=\"$_all_values\" + unset _all_values + unset _values + + unset _value + unset _listname +} + +# add this prefix to the COLCON_PREFIX_PATH +_colcon_prefix_bash_prepend_unique_value COLCON_PREFIX_PATH "$_colcon_prefix_bash_COLCON_CURRENT_PREFIX" +unset _colcon_prefix_bash_prepend_unique_value + +# check environment variable for custom Python executable +if [ -n "$COLCON_PYTHON_EXECUTABLE" ]; then + if [ ! -f "$COLCON_PYTHON_EXECUTABLE" ]; then + echo "error: COLCON_PYTHON_EXECUTABLE '$COLCON_PYTHON_EXECUTABLE' doesn't exist" + return 1 + fi + _colcon_python_executable="$COLCON_PYTHON_EXECUTABLE" +else + # try the Python executable known at configure time + _colcon_python_executable="/usr/bin/python3" + # if it doesn't exist try a fall back + if [ ! -f "$_colcon_python_executable" ]; then + if ! /usr/bin/env python3 --version > /dev/null 2> /dev/null; then + echo "error: unable to find python3 executable" + return 1 + fi + _colcon_python_executable=`/usr/bin/env python3 -c "import sys; print(sys.executable)"` + fi +fi + +# function to source another script with conditional trace output +# first argument: the path of the script +_colcon_prefix_sh_source_script() { + if [ -f "$1" ]; then + if [ -n "$COLCON_TRACE" ]; then + echo ". \"$1\"" + fi + . "$1" + else + echo "not found: \"$1\"" 1>&2 + fi +} + +# get all commands in topological order +_colcon_ordered_commands="$($_colcon_python_executable "$_colcon_prefix_bash_COLCON_CURRENT_PREFIX/_local_setup_util_sh.py" sh bash)" +unset _colcon_python_executable +if [ -n "$COLCON_TRACE" ]; then + echo "Execute generated script:" + echo "<<<" + echo "${_colcon_ordered_commands}" + echo ">>>" +fi +eval "${_colcon_ordered_commands}" +unset _colcon_ordered_commands + +unset _colcon_prefix_sh_source_script + +unset _colcon_prefix_bash_COLCON_CURRENT_PREFIX diff --git a/install/local_setup.ps1 b/install/local_setup.ps1 new file mode 100644 index 0000000..6f68c8d --- /dev/null +++ b/install/local_setup.ps1 @@ -0,0 +1,55 @@ +# generated from colcon_powershell/shell/template/prefix.ps1.em + +# This script extends the environment with all packages contained in this +# prefix path. + +# check environment variable for custom Python executable +if ($env:COLCON_PYTHON_EXECUTABLE) { + if (!(Test-Path "$env:COLCON_PYTHON_EXECUTABLE" -PathType Leaf)) { + echo "error: COLCON_PYTHON_EXECUTABLE '$env:COLCON_PYTHON_EXECUTABLE' doesn't exist" + exit 1 + } + $_colcon_python_executable="$env:COLCON_PYTHON_EXECUTABLE" +} else { + # use the Python executable known at configure time + $_colcon_python_executable="/usr/bin/python3" + # if it doesn't exist try a fall back + if (!(Test-Path "$_colcon_python_executable" -PathType Leaf)) { + if (!(Get-Command "python3" -ErrorAction SilentlyContinue)) { + echo "error: unable to find python3 executable" + exit 1 + } + $_colcon_python_executable="python3" + } +} + +# function to source another script with conditional trace output +# first argument: the path of the script +function _colcon_prefix_powershell_source_script { + param ( + $_colcon_prefix_powershell_source_script_param + ) + # source script with conditional trace output + if (Test-Path $_colcon_prefix_powershell_source_script_param) { + if ($env:COLCON_TRACE) { + echo ". '$_colcon_prefix_powershell_source_script_param'" + } + . "$_colcon_prefix_powershell_source_script_param" + } else { + Write-Error "not found: '$_colcon_prefix_powershell_source_script_param'" + } +} + +# get all commands in topological order +$_colcon_ordered_commands = & "$_colcon_python_executable" "$(Split-Path $PSCommandPath -Parent)/_local_setup_util_ps1.py" ps1 + +# execute all commands in topological order +if ($env:COLCON_TRACE) { + echo "Execute generated script:" + echo "<<<" + $_colcon_ordered_commands.Split([Environment]::NewLine, [StringSplitOptions]::RemoveEmptyEntries) | Write-Output + echo ">>>" +} +if ($_colcon_ordered_commands) { + $_colcon_ordered_commands.Split([Environment]::NewLine, [StringSplitOptions]::RemoveEmptyEntries) | Invoke-Expression +} diff --git a/install/local_setup.sh b/install/local_setup.sh new file mode 100644 index 0000000..ef9351f --- /dev/null +++ b/install/local_setup.sh @@ -0,0 +1,137 @@ +# generated from colcon_core/shell/template/prefix.sh.em + +# This script extends the environment with all packages contained in this +# prefix path. + +# since a plain shell script can't determine its own path when being sourced +# either use the provided COLCON_CURRENT_PREFIX +# or fall back to the build time prefix (if it exists) +_colcon_prefix_sh_COLCON_CURRENT_PREFIX="/home/user/work/nav2_plugin/install" +if [ -z "$COLCON_CURRENT_PREFIX" ]; then + if [ ! -d "$_colcon_prefix_sh_COLCON_CURRENT_PREFIX" ]; then + echo "The build time path \"$_colcon_prefix_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2 + unset _colcon_prefix_sh_COLCON_CURRENT_PREFIX + return 1 + fi +else + _colcon_prefix_sh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX" +fi + +# function to prepend a value to a variable +# which uses colons as separators +# duplicates as well as trailing separators are avoided +# first argument: the name of the result variable +# second argument: the value to be prepended +_colcon_prefix_sh_prepend_unique_value() { + # arguments + _listname="$1" + _value="$2" + + # get values from variable + eval _values=\"\$$_listname\" + # backup the field separator + _colcon_prefix_sh_prepend_unique_value_IFS="$IFS" + IFS=":" + # start with the new value + _all_values="$_value" + _contained_value="" + # iterate over existing values in the variable + for _item in $_values; do + # ignore empty strings + if [ -z "$_item" ]; then + continue + fi + # ignore duplicates of _value + if [ "$_item" = "$_value" ]; then + _contained_value=1 + continue + fi + # keep non-duplicate values + _all_values="$_all_values:$_item" + done + unset _item + if [ -z "$_contained_value" ]; then + if [ -n "$COLCON_TRACE" ]; then + if [ "$_all_values" = "$_value" ]; then + echo "export $_listname=$_value" + else + echo "export $_listname=$_value:\$$_listname" + fi + fi + fi + unset _contained_value + # restore the field separator + IFS="$_colcon_prefix_sh_prepend_unique_value_IFS" + unset _colcon_prefix_sh_prepend_unique_value_IFS + # export the updated variable + eval export $_listname=\"$_all_values\" + unset _all_values + unset _values + + unset _value + unset _listname +} + +# add this prefix to the COLCON_PREFIX_PATH +_colcon_prefix_sh_prepend_unique_value COLCON_PREFIX_PATH "$_colcon_prefix_sh_COLCON_CURRENT_PREFIX" +unset _colcon_prefix_sh_prepend_unique_value + +# check environment variable for custom Python executable +if [ -n "$COLCON_PYTHON_EXECUTABLE" ]; then + if [ ! -f "$COLCON_PYTHON_EXECUTABLE" ]; then + echo "error: COLCON_PYTHON_EXECUTABLE '$COLCON_PYTHON_EXECUTABLE' doesn't exist" + return 1 + fi + _colcon_python_executable="$COLCON_PYTHON_EXECUTABLE" +else + # try the Python executable known at configure time + _colcon_python_executable="/usr/bin/python3" + # if it doesn't exist try a fall back + if [ ! -f "$_colcon_python_executable" ]; then + if ! /usr/bin/env python3 --version > /dev/null 2> /dev/null; then + echo "error: unable to find python3 executable" + return 1 + fi + _colcon_python_executable=`/usr/bin/env python3 -c "import sys; print(sys.executable)"` + fi +fi + +# function to source another script with conditional trace output +# first argument: the path of the script +_colcon_prefix_sh_source_script() { + if [ -f "$1" ]; then + if [ -n "$COLCON_TRACE" ]; then + echo "# . \"$1\"" + fi + . "$1" + else + echo "not found: \"$1\"" 1>&2 + fi +} + +# get all commands in topological order +_colcon_ordered_commands="$($_colcon_python_executable "$_colcon_prefix_sh_COLCON_CURRENT_PREFIX/_local_setup_util_sh.py" sh)" +unset _colcon_python_executable +if [ -n "$COLCON_TRACE" ]; then + echo "_colcon_prefix_sh_source_script() { + if [ -f \"\$1\" ]; then + if [ -n \"\$COLCON_TRACE\" ]; then + echo \"# . \\\"\$1\\\"\" + fi + . \"\$1\" + else + echo \"not found: \\\"\$1\\\"\" 1>&2 + fi + }" + echo "# Execute generated script:" + echo "# <<<" + echo "${_colcon_ordered_commands}" + echo "# >>>" + echo "unset _colcon_prefix_sh_source_script" +fi +eval "${_colcon_ordered_commands}" +unset _colcon_ordered_commands + +unset _colcon_prefix_sh_source_script + +unset _colcon_prefix_sh_COLCON_CURRENT_PREFIX diff --git a/install/local_setup.zsh b/install/local_setup.zsh new file mode 100644 index 0000000..f7a8d90 --- /dev/null +++ b/install/local_setup.zsh @@ -0,0 +1,120 @@ +# generated from colcon_zsh/shell/template/prefix.zsh.em + +# This script extends the environment with all packages contained in this +# prefix path. + +# a zsh script is able to determine its own path if necessary +if [ -z "$COLCON_CURRENT_PREFIX" ]; then + _colcon_prefix_zsh_COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd)" +else + _colcon_prefix_zsh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX" +fi + +# function to convert array-like strings into arrays +# to workaround SH_WORD_SPLIT not being set +_colcon_prefix_zsh_convert_to_array() { + local _listname=$1 + local _dollar="$" + local _split="{=" + local _to_array="(\"$_dollar$_split$_listname}\")" + eval $_listname=$_to_array +} + +# function to prepend a value to a variable +# which uses colons as separators +# duplicates as well as trailing separators are avoided +# first argument: the name of the result variable +# second argument: the value to be prepended +_colcon_prefix_zsh_prepend_unique_value() { + # arguments + _listname="$1" + _value="$2" + + # get values from variable + eval _values=\"\$$_listname\" + # backup the field separator + _colcon_prefix_zsh_prepend_unique_value_IFS="$IFS" + IFS=":" + # start with the new value + _all_values="$_value" + # workaround SH_WORD_SPLIT not being set + _colcon_prefix_zsh_convert_to_array _values + # iterate over existing values in the variable + for _item in $_values; do + # ignore empty strings + if [ -z "$_item" ]; then + continue + fi + # ignore duplicates of _value + if [ "$_item" = "$_value" ]; then + continue + fi + # keep non-duplicate values + _all_values="$_all_values:$_item" + done + unset _item + # restore the field separator + IFS="$_colcon_prefix_zsh_prepend_unique_value_IFS" + unset _colcon_prefix_zsh_prepend_unique_value_IFS + # export the updated variable + eval export $_listname=\"$_all_values\" + unset _all_values + unset _values + + unset _value + unset _listname +} + +# add this prefix to the COLCON_PREFIX_PATH +_colcon_prefix_zsh_prepend_unique_value COLCON_PREFIX_PATH "$_colcon_prefix_zsh_COLCON_CURRENT_PREFIX" +unset _colcon_prefix_zsh_prepend_unique_value +unset _colcon_prefix_zsh_convert_to_array + +# check environment variable for custom Python executable +if [ -n "$COLCON_PYTHON_EXECUTABLE" ]; then + if [ ! -f "$COLCON_PYTHON_EXECUTABLE" ]; then + echo "error: COLCON_PYTHON_EXECUTABLE '$COLCON_PYTHON_EXECUTABLE' doesn't exist" + return 1 + fi + _colcon_python_executable="$COLCON_PYTHON_EXECUTABLE" +else + # try the Python executable known at configure time + _colcon_python_executable="/usr/bin/python3" + # if it doesn't exist try a fall back + if [ ! -f "$_colcon_python_executable" ]; then + if ! /usr/bin/env python3 --version > /dev/null 2> /dev/null; then + echo "error: unable to find python3 executable" + return 1 + fi + _colcon_python_executable=`/usr/bin/env python3 -c "import sys; print(sys.executable)"` + fi +fi + +# function to source another script with conditional trace output +# first argument: the path of the script +_colcon_prefix_sh_source_script() { + if [ -f "$1" ]; then + if [ -n "$COLCON_TRACE" ]; then + echo ". \"$1\"" + fi + . "$1" + else + echo "not found: \"$1\"" 1>&2 + fi +} + +# get all commands in topological order +_colcon_ordered_commands="$($_colcon_python_executable "$_colcon_prefix_zsh_COLCON_CURRENT_PREFIX/_local_setup_util_sh.py" sh zsh)" +unset _colcon_python_executable +if [ -n "$COLCON_TRACE" ]; then + echo "Execute generated script:" + echo "<<<" + echo "${_colcon_ordered_commands}" + echo ">>>" +fi +eval "${_colcon_ordered_commands}" +unset _colcon_ordered_commands + +unset _colcon_prefix_sh_source_script + +unset _colcon_prefix_zsh_COLCON_CURRENT_PREFIX diff --git a/install/nav2_gradient_costmap_plugin/lib/libnav2_gradient_costmap_plugin_core.so b/install/nav2_gradient_costmap_plugin/lib/libnav2_gradient_costmap_plugin_core.so new file mode 100644 index 0000000..5d3a992 Binary files /dev/null and b/install/nav2_gradient_costmap_plugin/lib/libnav2_gradient_costmap_plugin_core.so differ diff --git a/install/nav2_gradient_costmap_plugin/lib/nav2_gradient_costmap_plugin/talker b/install/nav2_gradient_costmap_plugin/lib/nav2_gradient_costmap_plugin/talker new file mode 100755 index 0000000..230aa91 Binary files /dev/null and b/install/nav2_gradient_costmap_plugin/lib/nav2_gradient_costmap_plugin/talker differ diff --git a/install/nav2_gradient_costmap_plugin/share/ament_index/resource_index/nav2_costmap_2d__pluginlib__plugin/nav2_gradient_costmap_plugin b/install/nav2_gradient_costmap_plugin/share/ament_index/resource_index/nav2_costmap_2d__pluginlib__plugin/nav2_gradient_costmap_plugin new file mode 100644 index 0000000..2591d20 --- /dev/null +++ b/install/nav2_gradient_costmap_plugin/share/ament_index/resource_index/nav2_costmap_2d__pluginlib__plugin/nav2_gradient_costmap_plugin @@ -0,0 +1 @@ +share/nav2_gradient_costmap_plugin/gradient_layer.xml diff --git a/install/nav2_gradient_costmap_plugin/share/ament_index/resource_index/package_run_dependencies/nav2_gradient_costmap_plugin b/install/nav2_gradient_costmap_plugin/share/ament_index/resource_index/package_run_dependencies/nav2_gradient_costmap_plugin new file mode 100644 index 0000000..8d6da19 --- /dev/null +++ b/install/nav2_gradient_costmap_plugin/share/ament_index/resource_index/package_run_dependencies/nav2_gradient_costmap_plugin @@ -0,0 +1 @@ +nav2_costmap_2d;pluginlib;rclcpp;geometry_msgs;ament_lint_auto;ament_lint_common \ No newline at end of file diff --git a/install/nav2_gradient_costmap_plugin/share/ament_index/resource_index/packages/nav2_gradient_costmap_plugin b/install/nav2_gradient_costmap_plugin/share/ament_index/resource_index/packages/nav2_gradient_costmap_plugin new file mode 100644 index 0000000..e69de29 diff --git a/install/nav2_gradient_costmap_plugin/share/ament_index/resource_index/parent_prefix_path/nav2_gradient_costmap_plugin b/install/nav2_gradient_costmap_plugin/share/ament_index/resource_index/parent_prefix_path/nav2_gradient_costmap_plugin new file mode 100644 index 0000000..6350bc1 --- /dev/null +++ b/install/nav2_gradient_costmap_plugin/share/ament_index/resource_index/parent_prefix_path/nav2_gradient_costmap_plugin @@ -0,0 +1 @@ +/opt/ros/humble \ No newline at end of file diff --git a/install/nav2_gradient_costmap_plugin/share/colcon-core/packages/nav2_gradient_costmap_plugin b/install/nav2_gradient_costmap_plugin/share/colcon-core/packages/nav2_gradient_costmap_plugin new file mode 100644 index 0000000..f7e5aaa --- /dev/null +++ b/install/nav2_gradient_costmap_plugin/share/colcon-core/packages/nav2_gradient_costmap_plugin @@ -0,0 +1 @@ +geometry_msgs:nav2_costmap_2d:pluginlib:rclcpp \ No newline at end of file diff --git a/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/cmake/nav2_gradient_costmap_pluginConfig-version.cmake b/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/cmake/nav2_gradient_costmap_pluginConfig-version.cmake new file mode 100644 index 0000000..1a5b413 --- /dev/null +++ b/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/cmake/nav2_gradient_costmap_pluginConfig-version.cmake @@ -0,0 +1,14 @@ +# generated from ament/cmake/core/templates/nameConfig-version.cmake.in +set(PACKAGE_VERSION "1.0.0") + +set(PACKAGE_VERSION_EXACT False) +set(PACKAGE_VERSION_COMPATIBLE False) + +if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_EXACT True) + set(PACKAGE_VERSION_COMPATIBLE True) +endif() + +if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_COMPATIBLE True) +endif() diff --git a/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/cmake/nav2_gradient_costmap_pluginConfig.cmake b/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/cmake/nav2_gradient_costmap_pluginConfig.cmake new file mode 100644 index 0000000..c2cb1ff --- /dev/null +++ b/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/cmake/nav2_gradient_costmap_pluginConfig.cmake @@ -0,0 +1,42 @@ +# generated from ament/cmake/core/templates/nameConfig.cmake.in + +# prevent multiple inclusion +if(_nav2_gradient_costmap_plugin_CONFIG_INCLUDED) + # ensure to keep the found flag the same + if(NOT DEFINED nav2_gradient_costmap_plugin_FOUND) + # explicitly set it to FALSE, otherwise CMake will set it to TRUE + set(nav2_gradient_costmap_plugin_FOUND FALSE) + elseif(NOT nav2_gradient_costmap_plugin_FOUND) + # use separate condition to avoid uninitialized variable warning + set(nav2_gradient_costmap_plugin_FOUND FALSE) + endif() + return() +endif() +set(_nav2_gradient_costmap_plugin_CONFIG_INCLUDED TRUE) + +# output package information +if(NOT nav2_gradient_costmap_plugin_FIND_QUIETLY) + message(STATUS "Found nav2_gradient_costmap_plugin: 1.0.0 (${nav2_gradient_costmap_plugin_DIR})") +endif() + +# warn when using a deprecated package +if(NOT "" STREQUAL "") + set(_msg "Package 'nav2_gradient_costmap_plugin' is deprecated") + # append custom deprecation text if available + if(NOT "" STREQUAL "TRUE") + set(_msg "${_msg} ()") + endif() + # optionally quiet the deprecation message + if(NOT ${nav2_gradient_costmap_plugin_DEPRECATED_QUIET}) + message(DEPRECATION "${_msg}") + endif() +endif() + +# flag package as ament-based to distinguish it after being find_package()-ed +set(nav2_gradient_costmap_plugin_FOUND_AMENT_PACKAGE TRUE) + +# include all config extra files +set(_extras "") +foreach(_extra ${_extras}) + include("${nav2_gradient_costmap_plugin_DIR}/${_extra}") +endforeach() diff --git a/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/environment/ament_prefix_path.dsv b/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/environment/ament_prefix_path.dsv new file mode 100644 index 0000000..79d4c95 --- /dev/null +++ b/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/environment/ament_prefix_path.dsv @@ -0,0 +1 @@ +prepend-non-duplicate;AMENT_PREFIX_PATH; diff --git a/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/environment/ament_prefix_path.sh b/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/environment/ament_prefix_path.sh new file mode 100644 index 0000000..02e441b --- /dev/null +++ b/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/environment/ament_prefix_path.sh @@ -0,0 +1,4 @@ +# copied from +# ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh + +ament_prepend_unique_value AMENT_PREFIX_PATH "$AMENT_CURRENT_PREFIX" diff --git a/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/environment/path.dsv b/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/environment/path.dsv new file mode 100644 index 0000000..b94426a --- /dev/null +++ b/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/environment/path.dsv @@ -0,0 +1 @@ +prepend-non-duplicate-if-exists;PATH;bin diff --git a/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/environment/path.sh b/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/environment/path.sh new file mode 100644 index 0000000..e59b749 --- /dev/null +++ b/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/environment/path.sh @@ -0,0 +1,5 @@ +# copied from ament_cmake_core/cmake/environment_hooks/environment/path.sh + +if [ -d "$AMENT_CURRENT_PREFIX/bin" ]; then + ament_prepend_unique_value PATH "$AMENT_CURRENT_PREFIX/bin" +fi diff --git a/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/gradient_layer.xml b/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/gradient_layer.xml new file mode 100644 index 0000000..259fa56 --- /dev/null +++ b/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/gradient_layer.xml @@ -0,0 +1,5 @@ + + + This is an example plugin which puts repeating costs gradients to costmap + + diff --git a/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/hook/cmake_prefix_path.dsv b/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/hook/cmake_prefix_path.dsv new file mode 100644 index 0000000..e119f32 --- /dev/null +++ b/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/hook/cmake_prefix_path.dsv @@ -0,0 +1 @@ +prepend-non-duplicate;CMAKE_PREFIX_PATH; diff --git a/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/hook/cmake_prefix_path.ps1 b/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/hook/cmake_prefix_path.ps1 new file mode 100644 index 0000000..d03facc --- /dev/null +++ b/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/hook/cmake_prefix_path.ps1 @@ -0,0 +1,3 @@ +# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em + +colcon_prepend_unique_value CMAKE_PREFIX_PATH "$env:COLCON_CURRENT_PREFIX" diff --git a/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/hook/cmake_prefix_path.sh b/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/hook/cmake_prefix_path.sh new file mode 100644 index 0000000..a948e68 --- /dev/null +++ b/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/hook/cmake_prefix_path.sh @@ -0,0 +1,3 @@ +# generated from colcon_core/shell/template/hook_prepend_value.sh.em + +_colcon_prepend_unique_value CMAKE_PREFIX_PATH "$COLCON_CURRENT_PREFIX" diff --git a/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/hook/ld_library_path_lib.dsv b/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/hook/ld_library_path_lib.dsv new file mode 100644 index 0000000..89bec93 --- /dev/null +++ b/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/hook/ld_library_path_lib.dsv @@ -0,0 +1 @@ +prepend-non-duplicate;LD_LIBRARY_PATH;lib diff --git a/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/hook/ld_library_path_lib.ps1 b/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/hook/ld_library_path_lib.ps1 new file mode 100644 index 0000000..f6df601 --- /dev/null +++ b/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/hook/ld_library_path_lib.ps1 @@ -0,0 +1,3 @@ +# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em + +colcon_prepend_unique_value LD_LIBRARY_PATH "$env:COLCON_CURRENT_PREFIX\lib" diff --git a/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/hook/ld_library_path_lib.sh b/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/hook/ld_library_path_lib.sh new file mode 100644 index 0000000..ca3c102 --- /dev/null +++ b/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/hook/ld_library_path_lib.sh @@ -0,0 +1,3 @@ +# generated from colcon_core/shell/template/hook_prepend_value.sh.em + +_colcon_prepend_unique_value LD_LIBRARY_PATH "$COLCON_CURRENT_PREFIX/lib" diff --git a/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/local_setup.bash b/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/local_setup.bash new file mode 100644 index 0000000..49782f2 --- /dev/null +++ b/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/local_setup.bash @@ -0,0 +1,46 @@ +# generated from ament_package/template/package_level/local_setup.bash.in + +# source local_setup.sh from same directory as this file +_this_path=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" && pwd) +# provide AMENT_CURRENT_PREFIX to shell script +AMENT_CURRENT_PREFIX=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." && pwd) +# store AMENT_CURRENT_PREFIX to restore it before each environment hook +_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX + +# trace output +if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then + echo "# . \"$_this_path/local_setup.sh\"" +fi +. "$_this_path/local_setup.sh" +unset _this_path + +# unset AMENT_ENVIRONMENT_HOOKS +# if not appending to them for return +if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then + unset AMENT_ENVIRONMENT_HOOKS +fi + +# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks +AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX +# list all environment hooks of this package + +# source all shell-specific environment hooks of this package +# if not returning them +if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then + _package_local_setup_IFS=$IFS + IFS=":" + for _hook in $AMENT_ENVIRONMENT_HOOKS; do + # restore AMENT_CURRENT_PREFIX for each environment hook + AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX + # restore IFS before sourcing other files + IFS=$_package_local_setup_IFS + . "$_hook" + done + unset _hook + IFS=$_package_local_setup_IFS + unset _package_local_setup_IFS + unset AMENT_ENVIRONMENT_HOOKS +fi + +unset _package_local_setup_AMENT_CURRENT_PREFIX +unset AMENT_CURRENT_PREFIX diff --git a/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/local_setup.dsv b/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/local_setup.dsv new file mode 100644 index 0000000..2ca2112 --- /dev/null +++ b/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/local_setup.dsv @@ -0,0 +1,2 @@ +source;share/nav2_gradient_costmap_plugin/environment/ament_prefix_path.sh +source;share/nav2_gradient_costmap_plugin/environment/path.sh diff --git a/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/local_setup.sh b/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/local_setup.sh new file mode 100644 index 0000000..9005173 --- /dev/null +++ b/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/local_setup.sh @@ -0,0 +1,184 @@ +# generated from ament_package/template/package_level/local_setup.sh.in + +# since this file is sourced use either the provided AMENT_CURRENT_PREFIX +# or fall back to the destination set at configure time +: ${AMENT_CURRENT_PREFIX:="/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin"} +if [ ! -d "$AMENT_CURRENT_PREFIX" ]; then + if [ -z "$COLCON_CURRENT_PREFIX" ]; then + echo "The compile time prefix path '$AMENT_CURRENT_PREFIX' doesn't " \ + "exist. Consider sourcing a different extension than '.sh'." 1>&2 + else + AMENT_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX" + fi +fi + +# function to append values to environment variables +# using colons as separators and avoiding leading separators +ament_append_value() { + # arguments + _listname="$1" + _value="$2" + #echo "listname $_listname" + #eval echo "list value \$$_listname" + #echo "value $_value" + + # avoid leading separator + eval _values=\"\$$_listname\" + if [ -z "$_values" ]; then + eval export $_listname=\"$_value\" + #eval echo "set list \$$_listname" + else + # field separator must not be a colon + _ament_append_value_IFS=$IFS + unset IFS + eval export $_listname=\"\$$_listname:$_value\" + #eval echo "append list \$$_listname" + IFS=$_ament_append_value_IFS + unset _ament_append_value_IFS + fi + unset _values + + unset _value + unset _listname +} + +# function to append non-duplicate values to environment variables +# using colons as separators and avoiding leading separators +ament_append_unique_value() { + # arguments + _listname=$1 + _value=$2 + #echo "listname $_listname" + #eval echo "list value \$$_listname" + #echo "value $_value" + + # check if the list contains the value + eval _values=\$$_listname + _duplicate= + _ament_append_unique_value_IFS=$IFS + IFS=":" + if [ "$AMENT_SHELL" = "zsh" ]; then + ament_zsh_to_array _values + fi + for _item in $_values; do + # ignore empty strings + if [ -z "$_item" ]; then + continue + fi + if [ $_item = $_value ]; then + _duplicate=1 + fi + done + unset _item + + # append only non-duplicates + if [ -z "$_duplicate" ]; then + # avoid leading separator + if [ -z "$_values" ]; then + eval $_listname=\"$_value\" + #eval echo "set list \$$_listname" + else + # field separator must not be a colon + unset IFS + eval $_listname=\"\$$_listname:$_value\" + #eval echo "append list \$$_listname" + fi + fi + IFS=$_ament_append_unique_value_IFS + unset _ament_append_unique_value_IFS + unset _duplicate + unset _values + + unset _value + unset _listname +} + +# function to prepend non-duplicate values to environment variables +# using colons as separators and avoiding trailing separators +ament_prepend_unique_value() { + # arguments + _listname="$1" + _value="$2" + #echo "listname $_listname" + #eval echo "list value \$$_listname" + #echo "value $_value" + + # check if the list contains the value + eval _values=\"\$$_listname\" + _duplicate= + _ament_prepend_unique_value_IFS=$IFS + IFS=":" + if [ "$AMENT_SHELL" = "zsh" ]; then + ament_zsh_to_array _values + fi + for _item in $_values; do + # ignore empty strings + if [ -z "$_item" ]; then + continue + fi + if [ "$_item" = "$_value" ]; then + _duplicate=1 + fi + done + unset _item + + # prepend only non-duplicates + if [ -z "$_duplicate" ]; then + # avoid trailing separator + if [ -z "$_values" ]; then + eval export $_listname=\"$_value\" + #eval echo "set list \$$_listname" + else + # field separator must not be a colon + unset IFS + eval export $_listname=\"$_value:\$$_listname\" + #eval echo "prepend list \$$_listname" + fi + fi + IFS=$_ament_prepend_unique_value_IFS + unset _ament_prepend_unique_value_IFS + unset _duplicate + unset _values + + unset _value + unset _listname +} + +# unset AMENT_ENVIRONMENT_HOOKS +# if not appending to them for return +if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then + unset AMENT_ENVIRONMENT_HOOKS +fi + +# list all environment hooks of this package +ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/nav2_gradient_costmap_plugin/environment/ament_prefix_path.sh" +ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/nav2_gradient_costmap_plugin/environment/path.sh" + +# source all shell-specific environment hooks of this package +# if not returning them +if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then + _package_local_setup_IFS=$IFS + IFS=":" + if [ "$AMENT_SHELL" = "zsh" ]; then + ament_zsh_to_array AMENT_ENVIRONMENT_HOOKS + fi + for _hook in $AMENT_ENVIRONMENT_HOOKS; do + if [ -f "$_hook" ]; then + # restore IFS before sourcing other files + IFS=$_package_local_setup_IFS + # trace output + if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then + echo "# . \"$_hook\"" + fi + . "$_hook" + fi + done + unset _hook + IFS=$_package_local_setup_IFS + unset _package_local_setup_IFS + unset AMENT_ENVIRONMENT_HOOKS +fi + +# reset AMENT_CURRENT_PREFIX after each package +# allowing to source multiple package-level setup files +unset AMENT_CURRENT_PREFIX diff --git a/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/local_setup.zsh b/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/local_setup.zsh new file mode 100644 index 0000000..fe161be --- /dev/null +++ b/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/local_setup.zsh @@ -0,0 +1,59 @@ +# generated from ament_package/template/package_level/local_setup.zsh.in + +AMENT_SHELL=zsh + +# source local_setup.sh from same directory as this file +_this_path=$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd) +# provide AMENT_CURRENT_PREFIX to shell script +AMENT_CURRENT_PREFIX=$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd) +# store AMENT_CURRENT_PREFIX to restore it before each environment hook +_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX + +# function to convert array-like strings into arrays +# to wordaround SH_WORD_SPLIT not being set +ament_zsh_to_array() { + local _listname=$1 + local _dollar="$" + local _split="{=" + local _to_array="(\"$_dollar$_split$_listname}\")" + eval $_listname=$_to_array +} + +# trace output +if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then + echo "# . \"$_this_path/local_setup.sh\"" +fi +# the package-level local_setup file unsets AMENT_CURRENT_PREFIX +. "$_this_path/local_setup.sh" +unset _this_path + +# unset AMENT_ENVIRONMENT_HOOKS +# if not appending to them for return +if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then + unset AMENT_ENVIRONMENT_HOOKS +fi + +# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks +AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX +# list all environment hooks of this package + +# source all shell-specific environment hooks of this package +# if not returning them +if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then + _package_local_setup_IFS=$IFS + IFS=":" + for _hook in $AMENT_ENVIRONMENT_HOOKS; do + # restore AMENT_CURRENT_PREFIX for each environment hook + AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX + # restore IFS before sourcing other files + IFS=$_package_local_setup_IFS + . "$_hook" + done + unset _hook + IFS=$_package_local_setup_IFS + unset _package_local_setup_IFS + unset AMENT_ENVIRONMENT_HOOKS +fi + +unset _package_local_setup_AMENT_CURRENT_PREFIX +unset AMENT_CURRENT_PREFIX diff --git a/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/package.bash b/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/package.bash new file mode 100644 index 0000000..7a93657 --- /dev/null +++ b/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/package.bash @@ -0,0 +1,39 @@ +# generated from colcon_bash/shell/template/package.bash.em + +# This script extends the environment for this package. + +# a bash script is able to determine its own path if necessary +if [ -z "$COLCON_CURRENT_PREFIX" ]; then + # the prefix is two levels up from the package specific share directory + _colcon_package_bash_COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." > /dev/null && pwd)" +else + _colcon_package_bash_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX" +fi + +# function to source another script with conditional trace output +# first argument: the path of the script +# additional arguments: arguments to the script +_colcon_package_bash_source_script() { + if [ -f "$1" ]; then + if [ -n "$COLCON_TRACE" ]; then + echo ". \"$1\"" + fi + . "$@" + else + echo "not found: \"$1\"" 1>&2 + fi +} + +# source sh script of this package +_colcon_package_bash_source_script "$_colcon_package_bash_COLCON_CURRENT_PREFIX/share/nav2_gradient_costmap_plugin/package.sh" + +# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced scripts +COLCON_CURRENT_PREFIX="$_colcon_package_bash_COLCON_CURRENT_PREFIX" + +# source bash hooks +_colcon_package_bash_source_script "$COLCON_CURRENT_PREFIX/share/nav2_gradient_costmap_plugin/local_setup.bash" + +unset COLCON_CURRENT_PREFIX + +unset _colcon_package_bash_source_script +unset _colcon_package_bash_COLCON_CURRENT_PREFIX diff --git a/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/package.dsv b/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/package.dsv new file mode 100644 index 0000000..6dd8b16 --- /dev/null +++ b/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/package.dsv @@ -0,0 +1,11 @@ +source;share/nav2_gradient_costmap_plugin/hook/cmake_prefix_path.ps1 +source;share/nav2_gradient_costmap_plugin/hook/cmake_prefix_path.dsv +source;share/nav2_gradient_costmap_plugin/hook/cmake_prefix_path.sh +source;share/nav2_gradient_costmap_plugin/hook/ld_library_path_lib.ps1 +source;share/nav2_gradient_costmap_plugin/hook/ld_library_path_lib.dsv +source;share/nav2_gradient_costmap_plugin/hook/ld_library_path_lib.sh +source;share/nav2_gradient_costmap_plugin/local_setup.bash +source;share/nav2_gradient_costmap_plugin/local_setup.dsv +source;share/nav2_gradient_costmap_plugin/local_setup.ps1 +source;share/nav2_gradient_costmap_plugin/local_setup.sh +source;share/nav2_gradient_costmap_plugin/local_setup.zsh diff --git a/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/package.ps1 b/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/package.ps1 new file mode 100644 index 0000000..5c08753 --- /dev/null +++ b/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/package.ps1 @@ -0,0 +1,117 @@ +# generated from colcon_powershell/shell/template/package.ps1.em + +# function to append a value to a variable +# which uses colons as separators +# duplicates as well as leading separators are avoided +# first argument: the name of the result variable +# second argument: the value to be prepended +function colcon_append_unique_value { + param ( + $_listname, + $_value + ) + + # get values from variable + if (Test-Path Env:$_listname) { + $_values=(Get-Item env:$_listname).Value + } else { + $_values="" + } + $_duplicate="" + # start with no values + $_all_values="" + # iterate over existing values in the variable + if ($_values) { + $_values.Split(";") | ForEach { + # not an empty string + if ($_) { + # not a duplicate of _value + if ($_ -eq $_value) { + $_duplicate="1" + } + if ($_all_values) { + $_all_values="${_all_values};$_" + } else { + $_all_values="$_" + } + } + } + } + # append only non-duplicates + if (!$_duplicate) { + # avoid leading separator + if ($_all_values) { + $_all_values="${_all_values};${_value}" + } else { + $_all_values="${_value}" + } + } + + # export the updated variable + Set-Item env:\$_listname -Value "$_all_values" +} + +# function to prepend a value to a variable +# which uses colons as separators +# duplicates as well as trailing separators are avoided +# first argument: the name of the result variable +# second argument: the value to be prepended +function colcon_prepend_unique_value { + param ( + $_listname, + $_value + ) + + # get values from variable + if (Test-Path Env:$_listname) { + $_values=(Get-Item env:$_listname).Value + } else { + $_values="" + } + # start with the new value + $_all_values="$_value" + # iterate over existing values in the variable + if ($_values) { + $_values.Split(";") | ForEach { + # not an empty string + if ($_) { + # not a duplicate of _value + if ($_ -ne $_value) { + # keep non-duplicate values + $_all_values="${_all_values};$_" + } + } + } + } + # export the updated variable + Set-Item env:\$_listname -Value "$_all_values" +} + +# function to source another script with conditional trace output +# first argument: the path of the script +# additional arguments: arguments to the script +function colcon_package_source_powershell_script { + param ( + $_colcon_package_source_powershell_script + ) + # source script with conditional trace output + if (Test-Path $_colcon_package_source_powershell_script) { + if ($env:COLCON_TRACE) { + echo ". '$_colcon_package_source_powershell_script'" + } + . "$_colcon_package_source_powershell_script" + } else { + Write-Error "not found: '$_colcon_package_source_powershell_script'" + } +} + + +# a powershell script is able to determine its own path +# the prefix is two levels up from the package specific share directory +$env:COLCON_CURRENT_PREFIX=(Get-Item $PSCommandPath).Directory.Parent.Parent.FullName + +colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/nav2_gradient_costmap_plugin/hook/cmake_prefix_path.ps1" +colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/nav2_gradient_costmap_plugin/hook/ld_library_path_lib.ps1" +colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/nav2_gradient_costmap_plugin/local_setup.ps1" + +Remove-Item Env:\COLCON_CURRENT_PREFIX diff --git a/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/package.sh b/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/package.sh new file mode 100644 index 0000000..02a7712 --- /dev/null +++ b/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/package.sh @@ -0,0 +1,88 @@ +# generated from colcon_core/shell/template/package.sh.em + +# This script extends the environment for this package. + +# function to prepend a value to a variable +# which uses colons as separators +# duplicates as well as trailing separators are avoided +# first argument: the name of the result variable +# second argument: the value to be prepended +_colcon_prepend_unique_value() { + # arguments + _listname="$1" + _value="$2" + + # get values from variable + eval _values=\"\$$_listname\" + # backup the field separator + _colcon_prepend_unique_value_IFS=$IFS + IFS=":" + # start with the new value + _all_values="$_value" + # workaround SH_WORD_SPLIT not being set in zsh + if [ "$(command -v colcon_zsh_convert_to_array)" ]; then + colcon_zsh_convert_to_array _values + fi + # iterate over existing values in the variable + for _item in $_values; do + # ignore empty strings + if [ -z "$_item" ]; then + continue + fi + # ignore duplicates of _value + if [ "$_item" = "$_value" ]; then + continue + fi + # keep non-duplicate values + _all_values="$_all_values:$_item" + done + unset _item + # restore the field separator + IFS=$_colcon_prepend_unique_value_IFS + unset _colcon_prepend_unique_value_IFS + # export the updated variable + eval export $_listname=\"$_all_values\" + unset _all_values + unset _values + + unset _value + unset _listname +} + +# since a plain shell script can't determine its own path when being sourced +# either use the provided COLCON_CURRENT_PREFIX +# or fall back to the build time prefix (if it exists) +_colcon_package_sh_COLCON_CURRENT_PREFIX="/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin" +if [ -z "$COLCON_CURRENT_PREFIX" ]; then + if [ ! -d "$_colcon_package_sh_COLCON_CURRENT_PREFIX" ]; then + echo "The build time path \"$_colcon_package_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2 + unset _colcon_package_sh_COLCON_CURRENT_PREFIX + return 1 + fi + COLCON_CURRENT_PREFIX="$_colcon_package_sh_COLCON_CURRENT_PREFIX" +fi +unset _colcon_package_sh_COLCON_CURRENT_PREFIX + +# function to source another script with conditional trace output +# first argument: the path of the script +# additional arguments: arguments to the script +_colcon_package_sh_source_script() { + if [ -f "$1" ]; then + if [ -n "$COLCON_TRACE" ]; then + echo "# . \"$1\"" + fi + . "$@" + else + echo "not found: \"$1\"" 1>&2 + fi +} + +# source sh hooks +_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/nav2_gradient_costmap_plugin/hook/cmake_prefix_path.sh" +_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/nav2_gradient_costmap_plugin/hook/ld_library_path_lib.sh" +_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/nav2_gradient_costmap_plugin/local_setup.sh" + +unset _colcon_package_sh_source_script +unset COLCON_CURRENT_PREFIX + +# do not unset _colcon_prepend_unique_value since it might be used by non-primary shell hooks diff --git a/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/package.xml b/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/package.xml new file mode 100644 index 0000000..2ade3a6 --- /dev/null +++ b/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/package.xml @@ -0,0 +1,26 @@ + + + + nav2_gradient_costmap_plugin + 1.0.0 + Run-time plugin for Costmap2D gradient later + Alexey Merzlyakov + BSD-3-Clause + + ament_cmake + + ament_lint_auto + ament_lint_common + + nav2_costmap_2d + pluginlib + rclcpp + geometry_msgs + + + + ament_cmake + rclcpp + std_msgs + + diff --git a/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/package.zsh b/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/package.zsh new file mode 100644 index 0000000..4d6bc0e --- /dev/null +++ b/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/package.zsh @@ -0,0 +1,50 @@ +# generated from colcon_zsh/shell/template/package.zsh.em + +# This script extends the environment for this package. + +# a zsh script is able to determine its own path if necessary +if [ -z "$COLCON_CURRENT_PREFIX" ]; then + # the prefix is two levels up from the package specific share directory + _colcon_package_zsh_COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd)" +else + _colcon_package_zsh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX" +fi + +# function to source another script with conditional trace output +# first argument: the path of the script +# additional arguments: arguments to the script +_colcon_package_zsh_source_script() { + if [ -f "$1" ]; then + if [ -n "$COLCON_TRACE" ]; then + echo ". \"$1\"" + fi + . "$@" + else + echo "not found: \"$1\"" 1>&2 + fi +} + +# function to convert array-like strings into arrays +# to workaround SH_WORD_SPLIT not being set +colcon_zsh_convert_to_array() { + local _listname=$1 + local _dollar="$" + local _split="{=" + local _to_array="(\"$_dollar$_split$_listname}\")" + eval $_listname=$_to_array +} + +# source sh script of this package +_colcon_package_zsh_source_script "$_colcon_package_zsh_COLCON_CURRENT_PREFIX/share/nav2_gradient_costmap_plugin/package.sh" +unset convert_zsh_to_array + +# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced scripts +COLCON_CURRENT_PREFIX="$_colcon_package_zsh_COLCON_CURRENT_PREFIX" + +# source zsh hooks +_colcon_package_zsh_source_script "$COLCON_CURRENT_PREFIX/share/nav2_gradient_costmap_plugin/local_setup.zsh" + +unset COLCON_CURRENT_PREFIX + +unset _colcon_package_zsh_source_script +unset _colcon_package_zsh_COLCON_CURRENT_PREFIX diff --git a/install/setup.bash b/install/setup.bash new file mode 100644 index 0000000..4c55244 --- /dev/null +++ b/install/setup.bash @@ -0,0 +1,31 @@ +# generated from colcon_bash/shell/template/prefix_chain.bash.em + +# This script extends the environment with the environment of other prefix +# paths which were sourced when this file was generated as well as all packages +# contained in this prefix path. + +# function to source another script with conditional trace output +# first argument: the path of the script +_colcon_prefix_chain_bash_source_script() { + if [ -f "$1" ]; then + if [ -n "$COLCON_TRACE" ]; then + echo ". \"$1\"" + fi + . "$1" + else + echo "not found: \"$1\"" 1>&2 + fi +} + +# source chained prefixes +# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script +COLCON_CURRENT_PREFIX="/opt/ros/humble" +_colcon_prefix_chain_bash_source_script "$COLCON_CURRENT_PREFIX/local_setup.bash" + +# source this prefix +# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script +COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)" +_colcon_prefix_chain_bash_source_script "$COLCON_CURRENT_PREFIX/local_setup.bash" + +unset COLCON_CURRENT_PREFIX +unset _colcon_prefix_chain_bash_source_script diff --git a/install/setup.ps1 b/install/setup.ps1 new file mode 100644 index 0000000..558e9b9 --- /dev/null +++ b/install/setup.ps1 @@ -0,0 +1,29 @@ +# generated from colcon_powershell/shell/template/prefix_chain.ps1.em + +# This script extends the environment with the environment of other prefix +# paths which were sourced when this file was generated as well as all packages +# contained in this prefix path. + +# function to source another script with conditional trace output +# first argument: the path of the script +function _colcon_prefix_chain_powershell_source_script { + param ( + $_colcon_prefix_chain_powershell_source_script_param + ) + # source script with conditional trace output + if (Test-Path $_colcon_prefix_chain_powershell_source_script_param) { + if ($env:COLCON_TRACE) { + echo ". '$_colcon_prefix_chain_powershell_source_script_param'" + } + . "$_colcon_prefix_chain_powershell_source_script_param" + } else { + Write-Error "not found: '$_colcon_prefix_chain_powershell_source_script_param'" + } +} + +# source chained prefixes +_colcon_prefix_chain_powershell_source_script "/opt/ros/humble\local_setup.ps1" + +# source this prefix +$env:COLCON_CURRENT_PREFIX=(Split-Path $PSCommandPath -Parent) +_colcon_prefix_chain_powershell_source_script "$env:COLCON_CURRENT_PREFIX\local_setup.ps1" diff --git a/install/setup.sh b/install/setup.sh new file mode 100644 index 0000000..5aa6fcc --- /dev/null +++ b/install/setup.sh @@ -0,0 +1,45 @@ +# generated from colcon_core/shell/template/prefix_chain.sh.em + +# This script extends the environment with the environment of other prefix +# paths which were sourced when this file was generated as well as all packages +# contained in this prefix path. + +# since a plain shell script can't determine its own path when being sourced +# either use the provided COLCON_CURRENT_PREFIX +# or fall back to the build time prefix (if it exists) +_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX=/home/user/work/nav2_plugin/install +if [ ! -z "$COLCON_CURRENT_PREFIX" ]; then + _colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX" +elif [ ! -d "$_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX" ]; then + echo "The build time path \"$_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2 + unset _colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX + return 1 +fi + +# function to source another script with conditional trace output +# first argument: the path of the script +_colcon_prefix_chain_sh_source_script() { + if [ -f "$1" ]; then + if [ -n "$COLCON_TRACE" ]; then + echo "# . \"$1\"" + fi + . "$1" + else + echo "not found: \"$1\"" 1>&2 + fi +} + +# source chained prefixes +# setting COLCON_CURRENT_PREFIX avoids relying on the build time prefix of the sourced script +COLCON_CURRENT_PREFIX="/opt/ros/humble" +_colcon_prefix_chain_sh_source_script "$COLCON_CURRENT_PREFIX/local_setup.sh" + + +# source this prefix +# setting COLCON_CURRENT_PREFIX avoids relying on the build time prefix of the sourced script +COLCON_CURRENT_PREFIX="$_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX" +_colcon_prefix_chain_sh_source_script "$COLCON_CURRENT_PREFIX/local_setup.sh" + +unset _colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX +unset _colcon_prefix_chain_sh_source_script +unset COLCON_CURRENT_PREFIX diff --git a/install/setup.zsh b/install/setup.zsh new file mode 100644 index 0000000..990d171 --- /dev/null +++ b/install/setup.zsh @@ -0,0 +1,31 @@ +# generated from colcon_zsh/shell/template/prefix_chain.zsh.em + +# This script extends the environment with the environment of other prefix +# paths which were sourced when this file was generated as well as all packages +# contained in this prefix path. + +# function to source another script with conditional trace output +# first argument: the path of the script +_colcon_prefix_chain_zsh_source_script() { + if [ -f "$1" ]; then + if [ -n "$COLCON_TRACE" ]; then + echo ". \"$1\"" + fi + . "$1" + else + echo "not found: \"$1\"" 1>&2 + fi +} + +# source chained prefixes +# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script +COLCON_CURRENT_PREFIX="/opt/ros/humble" +_colcon_prefix_chain_zsh_source_script "$COLCON_CURRENT_PREFIX/local_setup.zsh" + +# source this prefix +# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script +COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd)" +_colcon_prefix_chain_zsh_source_script "$COLCON_CURRENT_PREFIX/local_setup.zsh" + +unset COLCON_CURRENT_PREFIX +unset _colcon_prefix_chain_zsh_source_script diff --git a/log/COLCON_IGNORE b/log/COLCON_IGNORE new file mode 100644 index 0000000..e69de29 diff --git a/log/build_2023-04-12_11-01-51/events.log b/log/build_2023-04-12_11-01-51/events.log new file mode 100644 index 0000000..081e491 --- /dev/null +++ b/log/build_2023-04-12_11-01-51/events.log @@ -0,0 +1,168 @@ +[0.000000] (-) TimerEvent: {} +[0.000100] (nav2_gradient_costmap_plugin) JobQueued: {'identifier': 'nav2_gradient_costmap_plugin', 'dependencies': OrderedDict()} +[0.000117] (nav2_gradient_costmap_plugin) JobStarted: {'identifier': 'nav2_gradient_costmap_plugin'} +[0.007912] (nav2_gradient_costmap_plugin) JobProgress: {'identifier': 'nav2_gradient_costmap_plugin', 'progress': 'cmake'} +[0.008160] (nav2_gradient_costmap_plugin) Command: {'cmd': ['/usr/bin/cmake', '/home/user/work/nav2_plugin', '-DCMAKE_INSTALL_PREFIX=/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin'], 'cwd': '/home/user/work/nav2_plugin/build/nav2_gradient_costmap_plugin', 'env': OrderedDict([('LESSOPEN', '| /usr/bin/lesspipe %s'), ('LANGUAGE', 'en_US:'), ('USER', 'user'), ('LC_TIME', 'zh_CN.UTF-8'), ('XDG_SESSION_TYPE', 'wayland'), ('SHLVL', '1'), ('LD_LIBRARY_PATH', '/usr/lib/x86_64-linux-gnu/gazebo-11/plugins:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib'), ('HOME', '/home/user'), ('OLDPWD', '/home/user/work'), ('DESKTOP_SESSION', 'ubuntu'), ('ROS_PYTHON_VERSION', '3'), ('GNOME_SHELL_SESSION_MODE', 'ubuntu'), ('GTK_MODULES', 'gail:atk-bridge'), ('LC_MONETARY', 'zh_CN.UTF-8'), ('SYSTEMD_EXEC_PID', '2021'), ('DBUS_SESSION_BUS_ADDRESS', 'unix:path=/run/user/1000/bus'), ('COLORTERM', 'truecolor'), ('IM_CONFIG_PHASE', '1'), ('WAYLAND_DISPLAY', 'wayland-0'), ('ROS_DISTRO', 'humble'), ('LOGNAME', 'user'), ('_', '/usr/bin/colcon'), ('ROS_VERSION', '2'), ('XDG_SESSION_CLASS', 'user'), ('USERNAME', 'user'), ('TERM', 'xterm-256color'), ('GAZEBO_MODEL_PATH', ':/opt/ros/humble/share/turtlebot3_gazebo/models'), ('GNOME_DESKTOP_SESSION_ID', 'this-is-deprecated'), ('ROS_LOCALHOST_ONLY', '0'), ('PATH', '/opt/ros/humble/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/snap/bin'), ('SESSION_MANAGER', 'local/ubuntu22:@/tmp/.ICE-unix/1997,unix/ubuntu22:/tmp/.ICE-unix/1997'), ('XDG_MENU_PREFIX', 'gnome-'), ('LC_ADDRESS', 'zh_CN.UTF-8'), ('GNOME_TERMINAL_SCREEN', '/org/gnome/Terminal/screen/5ba53bf2_2516_496d_96e7_d283acaf496c'), ('GNOME_SETUP_DISPLAY', ':1'), ('XDG_RUNTIME_DIR', '/run/user/1000'), ('DISPLAY', ':0'), ('LANG', 'en_US.UTF-8'), ('XDG_CURRENT_DESKTOP', 'ubuntu:GNOME'), ('LC_TELEPHONE', 'zh_CN.UTF-8'), ('XMODIFIERS', '@im=ibus'), ('XDG_SESSION_DESKTOP', 'ubuntu'), ('XAUTHORITY', '/run/user/1000/.mutter-Xwaylandauth.LSE121'), ('LS_COLORS', 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.webp=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:'), ('GNOME_TERMINAL_SERVICE', ':1.107'), ('SSH_AGENT_LAUNCHER', 'gnome-keyring'), ('SSH_AUTH_SOCK', '/run/user/1000/keyring/ssh'), ('AMENT_PREFIX_PATH', '/opt/ros/humble'), ('SHELL', '/bin/bash'), ('LC_NAME', 'zh_CN.UTF-8'), ('QT_ACCESSIBILITY', '1'), ('GDMSESSION', 'ubuntu'), ('LESSCLOSE', '/usr/bin/lesspipe %s %s'), ('LC_MEASUREMENT', 'zh_CN.UTF-8'), ('LC_IDENTIFICATION', 'zh_CN.UTF-8'), ('QT_IM_MODULE', 'ibus'), ('PWD', '/home/user/work/nav2_plugin/build/nav2_gradient_costmap_plugin'), ('TURTLEBOT3_MODEL', 'waffle'), ('LC_ALL', 'en_US.UTF-8'), ('XDG_CONFIG_DIRS', '/etc/xdg/xdg-ubuntu:/etc/xdg'), ('XDG_DATA_DIRS', '/usr/share/ubuntu:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop'), ('PYTHONPATH', '/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages'), ('LC_NUMERIC', 'zh_CN.UTF-8'), ('LC_PAPER', 'zh_CN.UTF-8'), ('COLCON', '1'), ('VTE_VERSION', '6800'), ('CMAKE_PREFIX_PATH', '/opt/ros/humble')]), 'shell': False} +[0.099342] (-) TimerEvent: {} +[0.129678] (nav2_gradient_costmap_plugin) StdoutLine: {'line': b'-- The C compiler identification is GNU 11.3.0\n'} +[0.169320] (nav2_gradient_costmap_plugin) StdoutLine: {'line': b'-- The CXX compiler identification is GNU 11.3.0\n'} +[0.177773] (nav2_gradient_costmap_plugin) StdoutLine: {'line': b'-- Detecting C compiler ABI info\n'} +[0.199679] (-) TimerEvent: {} +[0.231087] (nav2_gradient_costmap_plugin) StdoutLine: {'line': b'-- Detecting C compiler ABI info - done\n'} +[0.234530] (nav2_gradient_costmap_plugin) StdoutLine: {'line': b'-- Check for working C compiler: /usr/bin/cc - skipped\n'} +[0.234967] (nav2_gradient_costmap_plugin) StdoutLine: {'line': b'-- Detecting C compile features\n'} +[0.235564] (nav2_gradient_costmap_plugin) StdoutLine: {'line': b'-- Detecting C compile features - done\n'} +[0.237952] (nav2_gradient_costmap_plugin) StdoutLine: {'line': b'-- Detecting CXX compiler ABI info\n'} +[0.281466] (nav2_gradient_costmap_plugin) StdoutLine: {'line': b'-- Detecting CXX compiler ABI info - done\n'} +[0.285197] (nav2_gradient_costmap_plugin) StdoutLine: {'line': b'-- Check for working CXX compiler: /usr/bin/c++ - skipped\n'} +[0.285351] (nav2_gradient_costmap_plugin) StdoutLine: {'line': b'-- Detecting CXX compile features\n'} +[0.285572] (nav2_gradient_costmap_plugin) StdoutLine: {'line': b'-- Detecting CXX compile features - done\n'} +[0.290212] (nav2_gradient_costmap_plugin) StdoutLine: {'line': b'-- Found ament_cmake: 1.3.3 (/opt/ros/humble/share/ament_cmake/cmake)\n'} +[0.300011] (-) TimerEvent: {} +[0.380475] (nav2_gradient_costmap_plugin) StdoutLine: {'line': b'-- Found Python3: /usr/bin/python3.10 (found version "3.10.6") found components: Interpreter \n'} +[0.400390] (-) TimerEvent: {} +[0.450926] (nav2_gradient_costmap_plugin) StdoutLine: {'line': b'-- Found rclcpp: 16.0.3 (/opt/ros/humble/share/rclcpp/cmake)\n'} +[0.489367] (nav2_gradient_costmap_plugin) StdoutLine: {'line': b'-- Found rosidl_generator_c: 3.1.4 (/opt/ros/humble/share/rosidl_generator_c/cmake)\n'} +[0.493741] (nav2_gradient_costmap_plugin) StdoutLine: {'line': b'-- Found rosidl_adapter: 3.1.4 (/opt/ros/humble/share/rosidl_adapter/cmake)\n'} +[0.500670] (-) TimerEvent: {} +[0.501993] (nav2_gradient_costmap_plugin) StdoutLine: {'line': b'-- Found rosidl_generator_cpp: 3.1.4 (/opt/ros/humble/share/rosidl_generator_cpp/cmake)\n'} +[0.515320] (nav2_gradient_costmap_plugin) StdoutLine: {'line': b'-- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c\n'} +[0.530055] (nav2_gradient_costmap_plugin) StdoutLine: {'line': b'-- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp\n'} +[0.580423] (nav2_gradient_costmap_plugin) StdoutLine: {'line': b'-- Found rmw_implementation_cmake: 6.1.1 (/opt/ros/humble/share/rmw_implementation_cmake/cmake)\n'} +[0.583307] (nav2_gradient_costmap_plugin) StdoutLine: {'line': b'-- Found rmw_fastrtps_cpp: 6.2.2 (/opt/ros/humble/share/rmw_fastrtps_cpp/cmake)\n'} +[0.601070] (-) TimerEvent: {} +[0.638840] (nav2_gradient_costmap_plugin) StdoutLine: {'line': b'-- Found OpenSSL: /usr/lib/x86_64-linux-gnu/libcrypto.so (found version "3.0.2") \n'} +[0.652929] (nav2_gradient_costmap_plugin) StdoutLine: {'line': b'-- Found FastRTPS: /opt/ros/humble/include \n'} +[0.675153] (nav2_gradient_costmap_plugin) StdoutLine: {'line': b"-- Using RMW implementation 'rmw_fastrtps_cpp' as default\n"} +[0.683507] (nav2_gradient_costmap_plugin) StdoutLine: {'line': b'-- Looking for pthread.h\n'} +[0.701381] (-) TimerEvent: {} +[0.717132] (nav2_gradient_costmap_plugin) StdoutLine: {'line': b'-- Looking for pthread.h - found\n'} +[0.717342] (nav2_gradient_costmap_plugin) StdoutLine: {'line': b'-- Performing Test CMAKE_HAVE_LIBC_PTHREAD\n'} +[0.752839] (nav2_gradient_costmap_plugin) StdoutLine: {'line': b'-- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Success\n'} +[0.753412] (nav2_gradient_costmap_plugin) StdoutLine: {'line': b'-- Found Threads: TRUE \n'} +[0.801723] (-) TimerEvent: {} +[0.848576] (nav2_gradient_costmap_plugin) StdoutLine: {'line': b'-- Found nav2_costmap_2d: 1.1.6 (/opt/ros/humble/share/nav2_costmap_2d/cmake)\n'} +[0.902071] (-) TimerEvent: {} +[1.002408] (-) TimerEvent: {} +[1.102744] (-) TimerEvent: {} +[1.203085] (-) TimerEvent: {} +[1.303438] (-) TimerEvent: {} +[1.400821] (nav2_gradient_costmap_plugin) StdoutLine: {'line': b'-- Found Eigen3: TRUE (found version "3.4.0") \n'} +[1.400978] (nav2_gradient_costmap_plugin) StdoutLine: {'line': b'-- Ensuring Eigen3 include directory is part of orocos-kdl CMake target\n'} +[1.403731] (-) TimerEvent: {} +[1.504146] (-) TimerEvent: {} +[1.604462] (-) TimerEvent: {} +[1.704794] (-) TimerEvent: {} +[1.805131] (-) TimerEvent: {} +[1.905473] (-) TimerEvent: {} +[2.005812] (-) TimerEvent: {} +[2.106158] (-) TimerEvent: {} +[2.138184] (nav2_gradient_costmap_plugin) StdoutLine: {'line': b'-- Configuring done\n'} +[2.206505] (-) TimerEvent: {} +[2.220755] (nav2_gradient_costmap_plugin) StdoutLine: {'line': b'-- Generating done\n'} +[2.221915] (nav2_gradient_costmap_plugin) StdoutLine: {'line': b'-- Build files have been written to: /home/user/work/nav2_plugin/build/nav2_gradient_costmap_plugin\n'} +[2.229381] (nav2_gradient_costmap_plugin) CommandEnded: {'returncode': 0} +[2.229817] (nav2_gradient_costmap_plugin) JobProgress: {'identifier': 'nav2_gradient_costmap_plugin', 'progress': 'build'} +[2.230213] (nav2_gradient_costmap_plugin) Command: {'cmd': ['/usr/bin/cmake', '--build', '/home/user/work/nav2_plugin/build/nav2_gradient_costmap_plugin', '--', '-j8', '-l8'], 'cwd': '/home/user/work/nav2_plugin/build/nav2_gradient_costmap_plugin', 'env': OrderedDict([('LESSOPEN', '| /usr/bin/lesspipe %s'), ('LANGUAGE', 'en_US:'), ('USER', 'user'), ('LC_TIME', 'zh_CN.UTF-8'), ('XDG_SESSION_TYPE', 'wayland'), ('SHLVL', '1'), ('LD_LIBRARY_PATH', 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/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/environment/ament_prefix_path.dsv\n'} +[9.055048] (nav2_gradient_costmap_plugin) StdoutLine: {'line': b'-- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/environment/path.sh\n'} +[9.055121] (nav2_gradient_costmap_plugin) StdoutLine: {'line': b'-- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/environment/path.dsv\n'} +[9.055143] (nav2_gradient_costmap_plugin) StdoutLine: {'line': b'-- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/local_setup.bash\n'} +[9.055184] (nav2_gradient_costmap_plugin) StdoutLine: {'line': b'-- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/local_setup.sh\n'} +[9.055227] (nav2_gradient_costmap_plugin) StdoutLine: {'line': b'-- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/local_setup.zsh\n'} +[9.055248] (nav2_gradient_costmap_plugin) StdoutLine: {'line': b'-- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/local_setup.dsv\n'} +[9.055295] (nav2_gradient_costmap_plugin) StdoutLine: {'line': b'-- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/package.dsv\n'} +[9.055346] (nav2_gradient_costmap_plugin) StdoutLine: {'line': b'-- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/ament_index/resource_index/packages/nav2_gradient_costmap_plugin\n'} +[9.055408] (nav2_gradient_costmap_plugin) StdoutLine: {'line': b'-- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/ament_index/resource_index/nav2_costmap_2d__pluginlib__plugin/nav2_gradient_costmap_plugin\n'} +[9.055502] (nav2_gradient_costmap_plugin) StdoutLine: {'line': b'-- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/cmake/nav2_gradient_costmap_pluginConfig.cmake\n'} +[9.055548] (nav2_gradient_costmap_plugin) StdoutLine: {'line': b'-- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/cmake/nav2_gradient_costmap_pluginConfig-version.cmake\n'} +[9.055599] (nav2_gradient_costmap_plugin) StdoutLine: {'line': b'-- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/package.xml\n'} +[9.056420] (nav2_gradient_costmap_plugin) CommandEnded: {'returncode': 0} +[9.085406] (nav2_gradient_costmap_plugin) JobEnded: {'identifier': 'nav2_gradient_costmap_plugin', 'rc': 0} +[9.086000] (-) EventReactorShutdown: {} diff --git a/log/build_2023-04-12_11-01-51/logger_all.log b/log/build_2023-04-12_11-01-51/logger_all.log new file mode 100644 index 0000000..e7a261e --- /dev/null +++ b/log/build_2023-04-12_11-01-51/logger_all.log @@ -0,0 +1,113 @@ +[0.189s] DEBUG:colcon:Command line arguments: ['/usr/bin/colcon', 'build'] +[0.189s] DEBUG:colcon:Parsed command line arguments: Namespace(log_base=None, log_level=None, verb_name='build', build_base='build', install_base='install', merge_install=False, symlink_install=False, test_result_base=None, continue_on_error=False, executor='parallel', parallel_workers=8, event_handlers=None, ignore_user_meta=False, metas=['./colcon.meta'], base_paths=['.'], packages_ignore=None, packages_ignore_regex=None, paths=None, packages_up_to=None, packages_up_to_regex=None, packages_above=None, packages_above_and_dependencies=None, packages_above_depth=None, packages_select_by_dep=None, packages_skip_by_dep=None, packages_skip_up_to=None, packages_select_build_failed=False, packages_skip_build_finished=False, packages_select_test_failures=False, packages_skip_test_passed=False, packages_select=None, packages_skip=None, packages_select_regex=None, packages_skip_regex=None, packages_start=None, packages_end=None, allow_overriding=[], cmake_args=None, cmake_target=None, cmake_target_skip_unavailable=False, cmake_clean_cache=False, cmake_clean_first=False, cmake_force_configure=False, ament_cmake_args=None, catkin_cmake_args=None, catkin_skip_building_tests=False, verb_parser=, verb_extension=, main=>) +[0.211s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) check parameters +[0.211s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) check parameters +[0.211s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) check parameters +[0.211s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) check parameters +[0.211s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) discover +[0.211s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) discover +[0.211s] INFO:colcon.colcon_core.package_discovery:Crawling recursively for packages in '/home/user/work/nav2_plugin' +[0.211s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ignore', 'ignore_ament_install'] +[0.211s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore' +[0.211s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore_ament_install' +[0.211s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_pkg'] +[0.211s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_pkg' +[0.211s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_meta'] +[0.211s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_meta' +[0.211s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ros'] +[0.211s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ros' +[0.225s] DEBUG:colcon.colcon_core.package_identification:Package '.' with type 'ros.ament_cmake' and name 'nav2_gradient_costmap_plugin' +[0.225s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) using defaults +[0.225s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) discover +[0.225s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) using defaults +[0.225s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) discover +[0.225s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) using defaults +[0.242s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) check parameters +[0.242s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) discover +[0.245s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 341 installed packages in /opt/ros/humble +[0.246s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) using defaults +[0.282s] Level 5:colcon.colcon_core.verb:set package 'nav2_gradient_costmap_plugin' build argument 'cmake_args' from command line to 'None' +[0.282s] Level 5:colcon.colcon_core.verb:set package 'nav2_gradient_costmap_plugin' build argument 'cmake_target' from command line to 'None' +[0.282s] Level 5:colcon.colcon_core.verb:set package 'nav2_gradient_costmap_plugin' build argument 'cmake_target_skip_unavailable' from command line to 'False' +[0.282s] Level 5:colcon.colcon_core.verb:set package 'nav2_gradient_costmap_plugin' build argument 'cmake_clean_cache' from command line to 'False' +[0.282s] Level 5:colcon.colcon_core.verb:set package 'nav2_gradient_costmap_plugin' build argument 'cmake_clean_first' from command line to 'False' +[0.282s] Level 5:colcon.colcon_core.verb:set package 'nav2_gradient_costmap_plugin' build argument 'cmake_force_configure' from command line to 'False' +[0.282s] Level 5:colcon.colcon_core.verb:set package 'nav2_gradient_costmap_plugin' build argument 'ament_cmake_args' from command line to 'None' +[0.282s] Level 5:colcon.colcon_core.verb:set package 'nav2_gradient_costmap_plugin' build argument 'catkin_cmake_args' from command line to 'None' +[0.282s] Level 5:colcon.colcon_core.verb:set package 'nav2_gradient_costmap_plugin' build argument 'catkin_skip_building_tests' from command line to 'False' +[0.282s] DEBUG:colcon.colcon_core.verb:Building package 'nav2_gradient_costmap_plugin' with the following arguments: {'ament_cmake_args': None, 'build_base': '/home/user/work/nav2_plugin/build/nav2_gradient_costmap_plugin', 'catkin_cmake_args': None, 'catkin_skip_building_tests': False, 'cmake_args': None, 'cmake_clean_cache': False, 'cmake_clean_first': False, 'cmake_force_configure': False, 'cmake_target': None, 'cmake_target_skip_unavailable': False, 'install_base': '/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin', 'merge_install': False, 'path': '/home/user/work/nav2_plugin', 'symlink_install': False, 'test_result_base': None} +[0.283s] INFO:colcon.colcon_core.executor:Executing jobs using 'parallel' executor +[0.284s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete +[0.284s] INFO:colcon.colcon_ros.task.ament_cmake.build:Building ROS package in '/home/user/work/nav2_plugin' with build type 'ament_cmake' +[0.284s] INFO:colcon.colcon_cmake.task.cmake.build:Building CMake package in '/home/user/work/nav2_plugin' +[0.289s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_core.shell.bat': Not used on non-Windows systems +[0.289s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell +[0.289s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment +[0.295s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/user/work/nav2_plugin/build/nav2_gradient_costmap_plugin': CMAKE_PREFIX_PATH=/opt/ros/humble /usr/bin/cmake /home/user/work/nav2_plugin -DCMAKE_INSTALL_PREFIX=/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin +[2.514s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/user/work/nav2_plugin/build/nav2_gradient_costmap_plugin' returned '0': CMAKE_PREFIX_PATH=/opt/ros/humble /usr/bin/cmake /home/user/work/nav2_plugin -DCMAKE_INSTALL_PREFIX=/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin +[2.516s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/user/work/nav2_plugin/build/nav2_gradient_costmap_plugin': CMAKE_PREFIX_PATH=/opt/ros/humble /usr/bin/cmake --build /home/user/work/nav2_plugin/build/nav2_gradient_costmap_plugin -- -j8 -l8 +[9.317s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/user/work/nav2_plugin/build/nav2_gradient_costmap_plugin' returned '0': CMAKE_PREFIX_PATH=/opt/ros/humble /usr/bin/cmake --build /home/user/work/nav2_plugin/build/nav2_gradient_costmap_plugin -- -j8 -l8 +[9.332s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/user/work/nav2_plugin/build/nav2_gradient_costmap_plugin': CMAKE_PREFIX_PATH=/opt/ros/humble /usr/bin/cmake --install /home/user/work/nav2_plugin/build/nav2_gradient_costmap_plugin +[9.341s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(nav2_gradient_costmap_plugin) +[9.341s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/user/work/nav2_plugin/build/nav2_gradient_costmap_plugin' returned '0': CMAKE_PREFIX_PATH=/opt/ros/humble /usr/bin/cmake --install /home/user/work/nav2_plugin/build/nav2_gradient_costmap_plugin +[9.347s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin' for CMake module files +[9.347s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin' for CMake config files +[9.347s] Level 1:colcon.colcon_core.shell:create_environment_hook('nav2_gradient_costmap_plugin', 'cmake_prefix_path') +[9.347s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/hook/cmake_prefix_path.ps1' +[9.348s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/hook/cmake_prefix_path.dsv' +[9.348s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/hook/cmake_prefix_path.sh' +[9.349s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/lib' +[9.349s] Level 1:colcon.colcon_core.shell:create_environment_hook('nav2_gradient_costmap_plugin', 'ld_library_path_lib') +[9.349s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/hook/ld_library_path_lib.ps1' +[9.350s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/hook/ld_library_path_lib.dsv' +[9.350s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/hook/ld_library_path_lib.sh' +[9.350s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/bin' +[9.350s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/lib/pkgconfig/nav2_gradient_costmap_plugin.pc' +[9.350s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/lib/python3.10/site-packages' +[9.350s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/bin' +[9.351s] INFO:colcon.colcon_core.shell:Creating package script '/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/package.ps1' +[9.351s] INFO:colcon.colcon_core.shell:Creating package descriptor '/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/package.dsv' +[9.352s] INFO:colcon.colcon_core.shell:Creating package script '/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/package.sh' +[9.352s] INFO:colcon.colcon_core.shell:Creating package script '/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/package.bash' +[9.353s] INFO:colcon.colcon_core.shell:Creating package script '/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/package.zsh' +[9.353s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/colcon-core/packages/nav2_gradient_costmap_plugin) +[9.365s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(nav2_gradient_costmap_plugin) +[9.365s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin' for CMake module files +[9.365s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin' for CMake config files +[9.365s] Level 1:colcon.colcon_core.shell:create_environment_hook('nav2_gradient_costmap_plugin', 'cmake_prefix_path') +[9.366s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/hook/cmake_prefix_path.ps1' +[9.366s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/hook/cmake_prefix_path.dsv' +[9.366s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/hook/cmake_prefix_path.sh' +[9.367s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/lib' +[9.367s] Level 1:colcon.colcon_core.shell:create_environment_hook('nav2_gradient_costmap_plugin', 'ld_library_path_lib') +[9.367s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/hook/ld_library_path_lib.ps1' +[9.367s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/hook/ld_library_path_lib.dsv' +[9.368s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/hook/ld_library_path_lib.sh' +[9.368s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/bin' +[9.368s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/lib/pkgconfig/nav2_gradient_costmap_plugin.pc' +[9.368s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/lib/python3.10/site-packages' +[9.368s] Level 1:colcon.colcon_core.environment:checking '/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/bin' +[9.369s] INFO:colcon.colcon_core.shell:Creating package script '/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/package.ps1' +[9.369s] INFO:colcon.colcon_core.shell:Creating package descriptor '/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/package.dsv' +[9.369s] INFO:colcon.colcon_core.shell:Creating package script '/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/package.sh' +[9.369s] INFO:colcon.colcon_core.shell:Creating package script '/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/package.bash' +[9.369s] INFO:colcon.colcon_core.shell:Creating package script '/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/package.zsh' +[9.370s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/colcon-core/packages/nav2_gradient_costmap_plugin) +[9.370s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:closing loop +[9.370s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:loop closed +[9.370s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete finished with '0' +[9.370s] DEBUG:colcon.colcon_core.event_reactor:joining thread +[9.374s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.terminal_notifier': Not used on non-Darwin systems +[9.374s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.win32': Not used on non-Windows systems +[9.374s] INFO:colcon.colcon_notification.desktop_notification:Sending desktop notification using 'notify2' +[9.385s] DEBUG:colcon.colcon_core.event_reactor:joined thread +[9.386s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/user/work/nav2_plugin/install/local_setup.ps1' +[9.387s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/user/work/nav2_plugin/install/_local_setup_util_ps1.py' +[9.388s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/user/work/nav2_plugin/install/setup.ps1' +[9.389s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/user/work/nav2_plugin/install/local_setup.sh' +[9.390s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/user/work/nav2_plugin/install/_local_setup_util_sh.py' +[9.390s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/user/work/nav2_plugin/install/setup.sh' +[9.391s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/user/work/nav2_plugin/install/local_setup.bash' +[9.391s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/user/work/nav2_plugin/install/setup.bash' +[9.392s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/user/work/nav2_plugin/install/local_setup.zsh' +[9.392s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/user/work/nav2_plugin/install/setup.zsh' diff --git a/log/build_2023-04-12_11-01-51/nav2_gradient_costmap_plugin/command.log b/log/build_2023-04-12_11-01-51/nav2_gradient_costmap_plugin/command.log new file mode 100644 index 0000000..540a2af --- /dev/null +++ b/log/build_2023-04-12_11-01-51/nav2_gradient_costmap_plugin/command.log @@ -0,0 +1,6 @@ +Invoking command in '/home/user/work/nav2_plugin/build/nav2_gradient_costmap_plugin': CMAKE_PREFIX_PATH=/opt/ros/humble /usr/bin/cmake /home/user/work/nav2_plugin -DCMAKE_INSTALL_PREFIX=/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin +Invoked command in '/home/user/work/nav2_plugin/build/nav2_gradient_costmap_plugin' returned '0': CMAKE_PREFIX_PATH=/opt/ros/humble /usr/bin/cmake /home/user/work/nav2_plugin -DCMAKE_INSTALL_PREFIX=/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin +Invoking command in '/home/user/work/nav2_plugin/build/nav2_gradient_costmap_plugin': CMAKE_PREFIX_PATH=/opt/ros/humble /usr/bin/cmake --build /home/user/work/nav2_plugin/build/nav2_gradient_costmap_plugin -- -j8 -l8 +Invoked command in '/home/user/work/nav2_plugin/build/nav2_gradient_costmap_plugin' returned '0': CMAKE_PREFIX_PATH=/opt/ros/humble /usr/bin/cmake --build /home/user/work/nav2_plugin/build/nav2_gradient_costmap_plugin -- -j8 -l8 +Invoking command in '/home/user/work/nav2_plugin/build/nav2_gradient_costmap_plugin': CMAKE_PREFIX_PATH=/opt/ros/humble /usr/bin/cmake --install /home/user/work/nav2_plugin/build/nav2_gradient_costmap_plugin +Invoked command in '/home/user/work/nav2_plugin/build/nav2_gradient_costmap_plugin' returned '0': CMAKE_PREFIX_PATH=/opt/ros/humble /usr/bin/cmake --install /home/user/work/nav2_plugin/build/nav2_gradient_costmap_plugin diff --git a/log/build_2023-04-12_11-01-51/nav2_gradient_costmap_plugin/stderr.log b/log/build_2023-04-12_11-01-51/nav2_gradient_costmap_plugin/stderr.log new file mode 100644 index 0000000..e69de29 diff --git a/log/build_2023-04-12_11-01-51/nav2_gradient_costmap_plugin/stdout.log b/log/build_2023-04-12_11-01-51/nav2_gradient_costmap_plugin/stdout.log new file mode 100644 index 0000000..d58deac --- /dev/null +++ b/log/build_2023-04-12_11-01-51/nav2_gradient_costmap_plugin/stdout.log @@ -0,0 +1,64 @@ +-- The C compiler identification is GNU 11.3.0 +-- The CXX compiler identification is GNU 11.3.0 +-- Detecting C compiler ABI info +-- Detecting C compiler ABI info - done +-- Check for working C compiler: /usr/bin/cc - skipped +-- Detecting C compile features +-- Detecting C compile features - done +-- Detecting CXX compiler ABI info +-- Detecting CXX compiler ABI info - done +-- Check for working CXX compiler: /usr/bin/c++ - skipped +-- Detecting CXX compile features +-- Detecting CXX compile features - done +-- Found ament_cmake: 1.3.3 (/opt/ros/humble/share/ament_cmake/cmake) +-- Found Python3: /usr/bin/python3.10 (found version "3.10.6") found components: Interpreter +-- Found rclcpp: 16.0.3 (/opt/ros/humble/share/rclcpp/cmake) +-- Found rosidl_generator_c: 3.1.4 (/opt/ros/humble/share/rosidl_generator_c/cmake) +-- Found rosidl_adapter: 3.1.4 (/opt/ros/humble/share/rosidl_adapter/cmake) +-- Found rosidl_generator_cpp: 3.1.4 (/opt/ros/humble/share/rosidl_generator_cpp/cmake) +-- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c +-- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp +-- Found rmw_implementation_cmake: 6.1.1 (/opt/ros/humble/share/rmw_implementation_cmake/cmake) +-- Found rmw_fastrtps_cpp: 6.2.2 (/opt/ros/humble/share/rmw_fastrtps_cpp/cmake) +-- Found OpenSSL: /usr/lib/x86_64-linux-gnu/libcrypto.so (found version "3.0.2") +-- Found FastRTPS: /opt/ros/humble/include +-- Using RMW implementation 'rmw_fastrtps_cpp' as default +-- Looking for pthread.h +-- Looking for pthread.h - found +-- Performing Test CMAKE_HAVE_LIBC_PTHREAD +-- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Success +-- Found Threads: TRUE +-- Found nav2_costmap_2d: 1.1.6 (/opt/ros/humble/share/nav2_costmap_2d/cmake) +-- Found Eigen3: TRUE (found version "3.4.0") +-- Ensuring Eigen3 include directory is part of orocos-kdl CMake target +-- Configuring done +-- Generating done +-- Build files have been written to: /home/user/work/nav2_plugin/build/nav2_gradient_costmap_plugin +[ 50%] Building CXX object CMakeFiles/nav2_gradient_costmap_plugin_core.dir/src/gradient_layer.cpp.o +[ 50%] Building CXX object CMakeFiles/talker.dir/src/publisher_function.cpp.o +[ 75%] Linking CXX executable talker +[ 75%] Built target talker +[100%] Linking CXX shared library libnav2_gradient_costmap_plugin_core.so +[100%] Built target nav2_gradient_costmap_plugin_core +-- Install configuration: "" +-- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/lib/libnav2_gradient_costmap_plugin_core.so +-- Set runtime path of "/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/lib/libnav2_gradient_costmap_plugin_core.so" to "" +-- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/lib/nav2_gradient_costmap_plugin/talker +-- Set runtime path of "/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/lib/nav2_gradient_costmap_plugin/talker" to "" +-- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/gradient_layer.xml +-- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/ament_index/resource_index/package_run_dependencies/nav2_gradient_costmap_plugin +-- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/ament_index/resource_index/parent_prefix_path/nav2_gradient_costmap_plugin +-- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/environment/ament_prefix_path.sh +-- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/environment/ament_prefix_path.dsv +-- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/environment/path.sh +-- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/environment/path.dsv +-- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/local_setup.bash +-- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/local_setup.sh +-- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/local_setup.zsh +-- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/local_setup.dsv +-- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/package.dsv +-- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/ament_index/resource_index/packages/nav2_gradient_costmap_plugin +-- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/ament_index/resource_index/nav2_costmap_2d__pluginlib__plugin/nav2_gradient_costmap_plugin +-- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/cmake/nav2_gradient_costmap_pluginConfig.cmake +-- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/cmake/nav2_gradient_costmap_pluginConfig-version.cmake +-- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/package.xml diff --git a/log/build_2023-04-12_11-01-51/nav2_gradient_costmap_plugin/stdout_stderr.log b/log/build_2023-04-12_11-01-51/nav2_gradient_costmap_plugin/stdout_stderr.log new file mode 100644 index 0000000..d58deac --- /dev/null +++ b/log/build_2023-04-12_11-01-51/nav2_gradient_costmap_plugin/stdout_stderr.log @@ -0,0 +1,64 @@ +-- The C compiler identification is GNU 11.3.0 +-- The CXX compiler identification is GNU 11.3.0 +-- Detecting C compiler ABI info +-- Detecting C compiler ABI info - done +-- Check for working C compiler: /usr/bin/cc - skipped +-- Detecting C compile features +-- Detecting C compile features - done +-- Detecting CXX compiler ABI info +-- Detecting CXX compiler ABI info - done +-- Check for working CXX compiler: /usr/bin/c++ - skipped +-- Detecting CXX compile features +-- Detecting CXX compile features - done +-- Found ament_cmake: 1.3.3 (/opt/ros/humble/share/ament_cmake/cmake) +-- Found Python3: /usr/bin/python3.10 (found version "3.10.6") found components: Interpreter +-- Found rclcpp: 16.0.3 (/opt/ros/humble/share/rclcpp/cmake) +-- Found rosidl_generator_c: 3.1.4 (/opt/ros/humble/share/rosidl_generator_c/cmake) +-- Found rosidl_adapter: 3.1.4 (/opt/ros/humble/share/rosidl_adapter/cmake) +-- Found rosidl_generator_cpp: 3.1.4 (/opt/ros/humble/share/rosidl_generator_cpp/cmake) +-- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c +-- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp +-- Found rmw_implementation_cmake: 6.1.1 (/opt/ros/humble/share/rmw_implementation_cmake/cmake) +-- Found rmw_fastrtps_cpp: 6.2.2 (/opt/ros/humble/share/rmw_fastrtps_cpp/cmake) +-- Found OpenSSL: /usr/lib/x86_64-linux-gnu/libcrypto.so (found version "3.0.2") +-- Found FastRTPS: /opt/ros/humble/include +-- Using RMW implementation 'rmw_fastrtps_cpp' as default +-- Looking for pthread.h +-- Looking for pthread.h - found +-- Performing Test CMAKE_HAVE_LIBC_PTHREAD +-- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Success +-- Found Threads: TRUE +-- Found nav2_costmap_2d: 1.1.6 (/opt/ros/humble/share/nav2_costmap_2d/cmake) +-- Found Eigen3: TRUE (found version "3.4.0") +-- Ensuring Eigen3 include directory is part of orocos-kdl CMake target +-- Configuring done +-- Generating done +-- Build files have been written to: /home/user/work/nav2_plugin/build/nav2_gradient_costmap_plugin +[ 50%] Building CXX object CMakeFiles/nav2_gradient_costmap_plugin_core.dir/src/gradient_layer.cpp.o +[ 50%] Building CXX object CMakeFiles/talker.dir/src/publisher_function.cpp.o +[ 75%] Linking CXX executable talker +[ 75%] Built target talker +[100%] Linking CXX shared library libnav2_gradient_costmap_plugin_core.so +[100%] Built target nav2_gradient_costmap_plugin_core +-- Install configuration: "" +-- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/lib/libnav2_gradient_costmap_plugin_core.so +-- Set runtime path of "/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/lib/libnav2_gradient_costmap_plugin_core.so" to "" +-- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/lib/nav2_gradient_costmap_plugin/talker +-- Set runtime path of "/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/lib/nav2_gradient_costmap_plugin/talker" to "" +-- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/gradient_layer.xml +-- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/ament_index/resource_index/package_run_dependencies/nav2_gradient_costmap_plugin +-- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/ament_index/resource_index/parent_prefix_path/nav2_gradient_costmap_plugin +-- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/environment/ament_prefix_path.sh +-- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/environment/ament_prefix_path.dsv +-- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/environment/path.sh +-- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/environment/path.dsv +-- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/local_setup.bash +-- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/local_setup.sh +-- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/local_setup.zsh +-- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/local_setup.dsv +-- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/package.dsv +-- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/ament_index/resource_index/packages/nav2_gradient_costmap_plugin +-- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/ament_index/resource_index/nav2_costmap_2d__pluginlib__plugin/nav2_gradient_costmap_plugin +-- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/cmake/nav2_gradient_costmap_pluginConfig.cmake +-- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/cmake/nav2_gradient_costmap_pluginConfig-version.cmake +-- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/package.xml diff --git a/log/build_2023-04-12_11-01-51/nav2_gradient_costmap_plugin/streams.log b/log/build_2023-04-12_11-01-51/nav2_gradient_costmap_plugin/streams.log new file mode 100644 index 0000000..b22f732 --- /dev/null +++ b/log/build_2023-04-12_11-01-51/nav2_gradient_costmap_plugin/streams.log @@ -0,0 +1,70 @@ +[0.010s] Invoking command in '/home/user/work/nav2_plugin/build/nav2_gradient_costmap_plugin': CMAKE_PREFIX_PATH=/opt/ros/humble /usr/bin/cmake /home/user/work/nav2_plugin -DCMAKE_INSTALL_PREFIX=/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin +[0.130s] -- The C compiler identification is GNU 11.3.0 +[0.169s] -- The CXX compiler identification is GNU 11.3.0 +[0.178s] -- Detecting C compiler ABI info +[0.231s] -- Detecting C compiler ABI info - done +[0.234s] -- Check for working C compiler: /usr/bin/cc - skipped +[0.235s] -- Detecting C compile features +[0.235s] -- Detecting C compile features - done +[0.238s] -- Detecting CXX compiler ABI info +[0.281s] -- Detecting CXX compiler ABI info - done +[0.285s] -- Check for working CXX compiler: /usr/bin/c++ - skipped +[0.285s] -- Detecting CXX compile features +[0.285s] -- Detecting CXX compile features - done +[0.290s] -- Found ament_cmake: 1.3.3 (/opt/ros/humble/share/ament_cmake/cmake) +[0.380s] -- Found Python3: /usr/bin/python3.10 (found version "3.10.6") found components: Interpreter +[0.451s] -- Found rclcpp: 16.0.3 (/opt/ros/humble/share/rclcpp/cmake) +[0.489s] -- Found rosidl_generator_c: 3.1.4 (/opt/ros/humble/share/rosidl_generator_c/cmake) +[0.494s] -- Found rosidl_adapter: 3.1.4 (/opt/ros/humble/share/rosidl_adapter/cmake) +[0.502s] -- Found rosidl_generator_cpp: 3.1.4 (/opt/ros/humble/share/rosidl_generator_cpp/cmake) +[0.515s] -- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c +[0.530s] -- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp +[0.580s] -- Found rmw_implementation_cmake: 6.1.1 (/opt/ros/humble/share/rmw_implementation_cmake/cmake) +[0.583s] -- Found rmw_fastrtps_cpp: 6.2.2 (/opt/ros/humble/share/rmw_fastrtps_cpp/cmake) +[0.639s] -- Found OpenSSL: /usr/lib/x86_64-linux-gnu/libcrypto.so (found version "3.0.2") +[0.653s] -- Found FastRTPS: /opt/ros/humble/include +[0.675s] -- Using RMW implementation 'rmw_fastrtps_cpp' as default +[0.683s] -- Looking for pthread.h +[0.717s] -- Looking for pthread.h - found +[0.717s] -- Performing Test CMAKE_HAVE_LIBC_PTHREAD +[0.753s] -- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Success +[0.753s] -- Found Threads: TRUE +[0.849s] -- Found nav2_costmap_2d: 1.1.6 (/opt/ros/humble/share/nav2_costmap_2d/cmake) +[1.401s] -- Found Eigen3: TRUE (found version "3.4.0") +[1.401s] -- Ensuring Eigen3 include directory is part of orocos-kdl CMake target +[2.138s] -- Configuring done +[2.221s] -- Generating done +[2.222s] -- Build files have been written to: /home/user/work/nav2_plugin/build/nav2_gradient_costmap_plugin +[2.229s] Invoked command in '/home/user/work/nav2_plugin/build/nav2_gradient_costmap_plugin' returned '0': CMAKE_PREFIX_PATH=/opt/ros/humble /usr/bin/cmake /home/user/work/nav2_plugin -DCMAKE_INSTALL_PREFIX=/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin +[2.231s] Invoking command in '/home/user/work/nav2_plugin/build/nav2_gradient_costmap_plugin': CMAKE_PREFIX_PATH=/opt/ros/humble /usr/bin/cmake --build /home/user/work/nav2_plugin/build/nav2_gradient_costmap_plugin -- -j8 -l8 +[2.254s] [ 50%] Building CXX object CMakeFiles/nav2_gradient_costmap_plugin_core.dir/src/gradient_layer.cpp.o +[2.254s] [ 50%] Building CXX object CMakeFiles/talker.dir/src/publisher_function.cpp.o +[6.076s] [ 75%] Linking CXX executable talker +[6.185s] [ 75%] Built target talker +[8.722s] [100%] Linking CXX shared library libnav2_gradient_costmap_plugin_core.so +[9.027s] [100%] Built target nav2_gradient_costmap_plugin_core +[9.032s] Invoked command in '/home/user/work/nav2_plugin/build/nav2_gradient_costmap_plugin' returned '0': CMAKE_PREFIX_PATH=/opt/ros/humble /usr/bin/cmake --build /home/user/work/nav2_plugin/build/nav2_gradient_costmap_plugin -- -j8 -l8 +[9.047s] Invoking command in '/home/user/work/nav2_plugin/build/nav2_gradient_costmap_plugin': CMAKE_PREFIX_PATH=/opt/ros/humble /usr/bin/cmake --install /home/user/work/nav2_plugin/build/nav2_gradient_costmap_plugin +[9.050s] -- Install configuration: "" +[9.050s] -- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/lib/libnav2_gradient_costmap_plugin_core.so +[9.054s] -- Set runtime path of "/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/lib/libnav2_gradient_costmap_plugin_core.so" to "" +[9.054s] -- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/lib/nav2_gradient_costmap_plugin/talker +[9.054s] -- Set runtime path of "/home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/lib/nav2_gradient_costmap_plugin/talker" to "" +[9.055s] -- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/gradient_layer.xml +[9.055s] -- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/ament_index/resource_index/package_run_dependencies/nav2_gradient_costmap_plugin +[9.055s] -- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/ament_index/resource_index/parent_prefix_path/nav2_gradient_costmap_plugin +[9.055s] -- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/environment/ament_prefix_path.sh +[9.055s] -- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/environment/ament_prefix_path.dsv +[9.055s] -- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/environment/path.sh +[9.055s] -- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/environment/path.dsv +[9.055s] -- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/local_setup.bash +[9.055s] -- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/local_setup.sh +[9.055s] -- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/local_setup.zsh +[9.055s] -- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/local_setup.dsv +[9.055s] -- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/package.dsv +[9.055s] -- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/ament_index/resource_index/packages/nav2_gradient_costmap_plugin +[9.055s] -- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/ament_index/resource_index/nav2_costmap_2d__pluginlib__plugin/nav2_gradient_costmap_plugin +[9.055s] -- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/cmake/nav2_gradient_costmap_pluginConfig.cmake +[9.055s] -- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/cmake/nav2_gradient_costmap_pluginConfig-version.cmake +[9.056s] -- Installing: /home/user/work/nav2_plugin/install/nav2_gradient_costmap_plugin/share/nav2_gradient_costmap_plugin/package.xml +[9.056s] Invoked command in '/home/user/work/nav2_plugin/build/nav2_gradient_costmap_plugin' returned '0': CMAKE_PREFIX_PATH=/opt/ros/humble /usr/bin/cmake --install /home/user/work/nav2_plugin/build/nav2_gradient_costmap_plugin diff --git a/log/latest b/log/latest new file mode 120000 index 0000000..b57d247 --- /dev/null +++ b/log/latest @@ -0,0 +1 @@ +latest_build \ No newline at end of file diff --git a/log/latest_build b/log/latest_build new file mode 120000 index 0000000..6206144 --- /dev/null +++ b/log/latest_build @@ -0,0 +1 @@ +build_2023-04-12_11-01-51 \ No newline at end of file diff --git a/package.xml b/package.xml new file mode 100644 index 0000000..2ade3a6 --- /dev/null +++ b/package.xml @@ -0,0 +1,26 @@ + + + + nav2_gradient_costmap_plugin + 1.0.0 + Run-time plugin for Costmap2D gradient later + Alexey Merzlyakov + BSD-3-Clause + + ament_cmake + + ament_lint_auto + ament_lint_common + + nav2_costmap_2d + pluginlib + rclcpp + geometry_msgs + + + + ament_cmake + rclcpp + std_msgs + + diff --git a/src/gradient_layer.cpp b/src/gradient_layer.cpp new file mode 100644 index 0000000..6a2735c --- /dev/null +++ b/src/gradient_layer.cpp @@ -0,0 +1,284 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, 2013, Willow Garage, Inc. + * Copyright (c) 2020, Samsung R&D Institute Russia + * 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. + * + * Author: Eitan Marder-Eppstein + * David V. Lu!! + * Alexey Merzlyakov + * + * Reference tutorial: + * https://navigation.ros.org/tutorials/docs/writing_new_costmap2d_plugin.html + *********************************************************************/ +#include "nav2_gradient_costmap_plugin/gradient_layer.hpp" + +#include "nav2_costmap_2d/costmap_math.hpp" +#include "nav2_costmap_2d/footprint.hpp" + +#include "tf2/convert.h" +#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp" + +#include "rclcpp/parameter_events_filter.hpp" + +using nav2_costmap_2d::LETHAL_OBSTACLE; +using nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE; +using nav2_costmap_2d::NO_INFORMATION; +using std::placeholders::_1; + +namespace nav2_gradient_costmap_plugin +{ + +GradientLayer::GradientLayer() +: last_min_x_(-std::numeric_limits::max()), + last_min_y_(-std::numeric_limits::max()), + last_max_x_(std::numeric_limits::max()), + last_max_y_(std::numeric_limits::max()) +{ +} + +// This method is called at the end of plugin initialization. +// It contains ROS parameter(s) declaration and initialization +// of need_recalculation_ variable. +void +GradientLayer::onInitialize() +{ + auto node = node_.lock(); + declareParameter("enabled", rclcpp::ParameterValue(true)); + node->get_parameter(name_ + "." + "enabled", enabled_); + + subscription_ = node->create_subscription( + "/topic1", 10, std::bind(&GradientLayer::topic_callback, this, _1)); + + + + // data_sub_ = node->create_subscription( + // "my_data", 10, + // std::bind(&incomingData, this, std::placeholders::_1)); + + map_received_ = false; + rolling_window_ = layered_costmap_->isRolling(); + setDefaultValue(NO_INFORMATION); + + need_recalculation_ = false; + current_ = true; +} + +void GradientLayer::topic_callback(const geometry_msgs::msg::Point::SharedPtr msg) +{ + RCLCPP_INFO(logger_, "I heard: '(%f ,%f, %f)'", msg->x ,msg->y, msg->z); + for(int i = 0; i < msg->z; i ++ ) + { + PointVector.push_back(PointInt(msg->x + i, msg->y)); + } +} + +// The method is called to ask the plugin: which area of costmap it needs to update. +// Inside this method window bounds are re-calculated if need_recalculation_ is true +// and updated independently on its value. +void +GradientLayer::updateBounds( + double robot_x, double robot_y, double robot_yaw, double * min_x, + double * min_y, double * max_x, double * max_y) +{ + updateFootprint(robot_x, robot_y, robot_yaw, min_x, min_y, max_x, max_y); + if (need_recalculation_) { + last_min_x_ = *min_x; + last_min_y_ = *min_y; + last_max_x_ = *max_x; + last_max_y_ = *max_y; + // For some reason when I make these -::max() it does not + // work with Costmap2D::worldToMapEnforceBounds(), so I'm using + // -::max() instead. + *min_x = -std::numeric_limits::max(); + *min_y = -std::numeric_limits::max(); + *max_x = std::numeric_limits::max(); + *max_y = std::numeric_limits::max(); + need_recalculation_ = false; + } else { + double tmp_min_x = last_min_x_; + double tmp_min_y = last_min_y_; + double tmp_max_x = last_max_x_; + double tmp_max_y = last_max_y_; + last_min_x_ = *min_x; + last_min_y_ = *min_y; + last_max_x_ = *max_x; + last_max_y_ = *max_y; + *min_x = std::min(tmp_min_x, *min_x); + *min_y = std::min(tmp_min_y, *min_y); + *max_x = std::max(tmp_max_x, *max_x); + *max_y = std::max(tmp_max_y, *max_y); + } +} + +// The method is called when footprint was changed. +// Here it just resets need_recalculation_ variable. +void +GradientLayer::onFootprintChanged() +{ + need_recalculation_ = true; + + RCLCPP_DEBUG(rclcpp::get_logger( + "nav2_costmap_2d"), "GradientLayer::onFootprintChanged(): num footprint points: %lu", + layered_costmap_->getFootprint().size()); +} + +void +GradientLayer::updateFootprint( + double robot_x, double robot_y, double robot_yaw, + double * min_x, double * min_y, + double * max_x, + double * max_y) +{ + nav2_costmap_2d::transformFootprint(robot_x, robot_y, robot_yaw, getFootprint(), transformed_footprint_); + + for (unsigned int i = 0; i < transformed_footprint_.size(); i++) { + touch(transformed_footprint_[i].x, transformed_footprint_[i].y, min_x, min_y, max_x, max_y); + } +} + +// bool my_setConvexPolygonCost( +// const std::vector & polygon, +// unsigned char cost_value) +// { +// // we assume the polygon is given in the global_frame... +// // we need to transform it to map coordinates +// for (unsigned int i = 0; i < polygon.size(); ++i) { +// PointInt loc; +// if (!worldToMap(polygon[i].x, polygon[i].y, loc.x, loc.y)) { +// // ("Polygon lies outside map bounds, so we can't fill it"); +// return false; +// } +// PointVector.push_back(loc); +// } + +// std::vector polygon_cells; + +// // get the cells that fill the polygon +// convexFillCells(map_polygon, polygon_cells); + +// // set the cost of those cells +// for (unsigned int i = 0; i < polygon_cells.size(); ++i) { +// unsigned int index = getIndex(polygon_cells[i].x, polygon_cells[i].y); +// costmap_[index] = cost_value; +// } +// return true; +// } + + +// The method is called when costmap recalculation is required. +// It updates the costmap within its window bounds. +// Inside this method the costmap gradient is generated and is writing directly +// to the resulting costmap master_grid without any merging with previous layers. +void +GradientLayer::updateCosts( + nav2_costmap_2d::Costmap2D & master_grid, int min_i, int min_j, + int max_i, + int max_j) +{ + if (!enabled_) { + return; + } + + // master_array - is a direct pointer to the resulting master_grid. + // master_grid - is a resulting costmap combined from all layers. + // By using this pointer all layers will be overwritten! + // To work with costmap layer and merge it with other costmap layers, + // please use costmap_ pointer instead (this is pointer to current + // costmap layer grid) and then call one of updates methods: + // - updateWithAddition() + // - updateWithMax() + // - updateWithOverwrite() + // - updateWithTrueOverwrite() + // In this case using master_array pointer is equal to modifying local costmap_ + // pointer and then calling updateWithTrueOverwrite(): + unsigned char * master_array = master_grid.getCharMap(); + unsigned int size_x = master_grid.getSizeInCellsX(), size_y = master_grid.getSizeInCellsY(); + + // {min_i, min_j} - {max_i, max_j} - are update-window coordinates. + // These variables are used to update the costmap only within this window + // avoiding the updates of whole area. + // + // Fixing window coordinates with map size if necessary. + min_i = std::max(0, min_i); + min_j = std::max(0, min_j); + max_i = std::min(static_cast(size_x), max_i); + max_j = std::min(static_cast(size_y), max_j); + + RCLCPP_INFO(logger_, "min_i = %d, min_j = %d, max_i = %d, max_j = %d", min_i, min_j, max_i, max_j); + + + // _free_polygons.push_back(transformed_footprint_); + + // for (int i = 0; i < int(_free_polygons.size()); ++i) + // { + // bool f = setConvexPolygonCost(_free_polygons[i], nav2_costmap_2d::FREE_SPACE); + // if (f) + // { + // RCLCPP_INFO(logger_, "set OKK %d", i); + // } + // else + // { + // RCLCPP_INFO(logger_, "set ERROR"); + // } + // } + + //setConvexPolygonCost(transformed_footprint_, nav2_costmap_2d::FREE_SPACE); + + // for (unsigned int i = 0; i < transformed_footprint_.size(); ++i) { + // unsigned int x; + // unsigned int y; + // worldToMap(transformed_footprint_[i].x, transformed_footprint_[i].y, x, y); + + // // int index = master_grid.getIndex(x, y); + // // master_array[index] = nav2_costmap_2d::FREE_SPACE; + // PointVector.push_back(PointInt(x, y)); + // // RCLCPP_INFO(logger_, "point: (%f, %f, %d, %d, %d)", transformed_footprint_[i].x, transformed_footprint_[i].y, x, y, index); + // // unsigned int index = getIndex(x, y); + // // costmap_[index] = nav2_costmap_2d::FREE_SPACE; + // } + + for (unsigned int i = 0; i < PointVector.size(); i ++ ) + { + int index = master_grid.getIndex(PointVector[i].x, PointVector[i].y); + master_array[index] = nav2_costmap_2d::FREE_SPACE; + } + +} + +} // namespace nav2_gradient_costmap_plugin + +// This is the macro allowing a nav2_gradient_costmap_plugin::GradientLayer class +// to be registered in order to be dynamically loadable of base type nav2_costmap_2d::Layer. +// Usually places in the end of cpp-file where the loadable class written. +#include "pluginlib/class_list_macros.hpp" +PLUGINLIB_EXPORT_CLASS(nav2_gradient_costmap_plugin::GradientLayer, nav2_costmap_2d::Layer) diff --git a/src/publisher_function.cpp b/src/publisher_function.cpp new file mode 100644 index 0000000..a392788 --- /dev/null +++ b/src/publisher_function.cpp @@ -0,0 +1,54 @@ +#include +#include +#include +#include + +#include "rclcpp/rclcpp.hpp" +#include "std_msgs/msg/string.hpp" +#include "geometry_msgs/msg/point.hpp" + +using namespace std::chrono_literals; + +/* This example creates a subclass of Node and uses std::bind() to register a + * member function as a callback from the timer. */ + +class MinimalPublisher : public rclcpp::Node +{ + public: + MinimalPublisher() + : Node("minimal_publisher"), count_(20), width_(10), xx(50) + { + publisher_ = this->create_publisher("topic1", 10); + timer_ = this->create_wall_timer(100ms, std::bind(&MinimalPublisher::timer_callback, this)); + } + + private: + void timer_callback() + { + auto message = geometry_msgs::msg::Point(); + + message.x = xx; + message.y = count_ ++; + message.z = width_; + + if (count_ % 210 == 0) + { + count_ = 20; + xx = 100; + } + + RCLCPP_INFO(this->get_logger(), "Publishing: 'x = %f, y = %f, z = %f'", message.x, message.y, message.z); + publisher_->publish(message); + } + rclcpp::TimerBase::SharedPtr timer_; + rclcpp::Publisher::SharedPtr publisher_; + size_t count_, width_, xx; + }; + + int main(int argc, char * argv[]) + { + rclcpp::init(argc, argv); + rclcpp::spin(std::make_shared()); + rclcpp::shutdown(); + return 0; + }