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meifannao 2023-04-12 11:02:14 +08:00
commit 45ca6c0fe4
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62
CMakeLists.txt Normal file
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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()

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$(MAKE) $(MAKESILENT) -f CMakeFiles/nav2_gradient_costmap_plugin_core.dir/build.make CMakeFiles/nav2_gradient_costmap_plugin_core.dir/src/gradient_layer.cpp.s
.PHONY : src/gradient_layer.cpp.s
src/publisher_function.o: src/publisher_function.cpp.o
.PHONY : src/publisher_function.o
# target to build an object file
src/publisher_function.cpp.o:
$(MAKE) $(MAKESILENT) -f CMakeFiles/talker.dir/build.make CMakeFiles/talker.dir/src/publisher_function.cpp.o
.PHONY : src/publisher_function.cpp.o
src/publisher_function.i: src/publisher_function.cpp.i
.PHONY : src/publisher_function.i
# target to preprocess a source file
src/publisher_function.cpp.i:
$(MAKE) $(MAKESILENT) -f CMakeFiles/talker.dir/build.make CMakeFiles/talker.dir/src/publisher_function.cpp.i
.PHONY : src/publisher_function.cpp.i
src/publisher_function.s: src/publisher_function.cpp.s
.PHONY : src/publisher_function.s
# target to generate assembly for a file
src/publisher_function.cpp.s:
$(MAKE) $(MAKESILENT) -f CMakeFiles/talker.dir/build.make CMakeFiles/talker.dir/src/publisher_function.cpp.s
.PHONY : src/publisher_function.cpp.s
# Help Target
help:
@echo "The following are some of the valid targets for this Makefile:"
@echo "... all (the default if no target is provided)"
@echo "... clean"
@echo "... depend"
@echo "... edit_cache"
@echo "... install"
@echo "... install/local"
@echo "... install/strip"
@echo "... list_install_components"
@echo "... rebuild_cache"
@echo "... test"
@echo "... nav2_gradient_costmap_plugin_uninstall"
@echo "... uninstall"
@echo "... nav2_gradient_costmap_plugin_core"
@echo "... talker"
@echo "... src/gradient_layer.o"
@echo "... src/gradient_layer.i"
@echo "... src/gradient_layer.s"
@echo "... src/publisher_function.o"
@echo "... src/publisher_function.i"
@echo "... src/publisher_function.s"
.PHONY : help
#=============================================================================
# Special targets to cleanup operation of make.
# Special rule to run CMake to check the build system integrity.
# No rule that depends on this can have commands that come from listfiles
# because they might be regenerated.
cmake_check_build_system:
$(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
.PHONY : cmake_check_build_system

14
build/nav2_gradient_costmap_plugin/ament_cmake_core/nav2_gradient_costmap_pluginConfig-version.cmake Normal file
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# 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()

42
build/nav2_gradient_costmap_plugin/ament_cmake_core/nav2_gradient_costmap_pluginConfig.cmake Normal file
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# 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()

17
build/nav2_gradient_costmap_plugin/ament_cmake_core/package.cmake Normal file
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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 <alexey.merzlyakov@samsung.com>")
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 "<costmap_2d plugin=\"gradient_layer.xml\"/>")
list(APPEND nav2_gradient_costmap_plugin_EXPORT_TAGS "<build_type>ament_cmake</build_type>")
list(APPEND nav2_gradient_costmap_plugin_EXPORT_TAGS "<buildtool_depend>rclcpp</buildtool_depend>")
list(APPEND nav2_gradient_costmap_plugin_EXPORT_TAGS "<buildtool_depend>std_msgs</buildtool_depend>")

4
build/nav2_gradient_costmap_plugin/ament_cmake_core/stamps/ament_prefix_path.sh.stamp Normal file
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# copied from
# ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh
ament_prepend_unique_value AMENT_PREFIX_PATH "$AMENT_CURRENT_PREFIX"

14
build/nav2_gradient_costmap_plugin/ament_cmake_core/stamps/nameConfig-version.cmake.in.stamp Normal file
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@ -0,0 +1,14 @@
# generated from ament/cmake/core/templates/nameConfig-version.cmake.in
set(PACKAGE_VERSION "@PACKAGE_VERSION@")
set(PACKAGE_VERSION_EXACT False)
set(PACKAGE_VERSION_COMPATIBLE False)
if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
set(PACKAGE_VERSION_EXACT True)
set(PACKAGE_VERSION_COMPATIBLE True)
endif()
if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
set(PACKAGE_VERSION_COMPATIBLE True)
endif()

42
build/nav2_gradient_costmap_plugin/ament_cmake_core/stamps/nameConfig.cmake.in.stamp Normal file
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# 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()

26
build/nav2_gradient_costmap_plugin/ament_cmake_core/stamps/package.xml.stamp Normal file
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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>nav2_gradient_costmap_plugin</name>
<version>1.0.0</version>
<description>Run-time plugin for Costmap2D gradient later</description>
<maintainer email="alexey.merzlyakov@samsung.com">Alexey Merzlyakov</maintainer>
<license>BSD-3-Clause</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<depend>nav2_costmap_2d</depend>
<depend>pluginlib</depend>
<depend>rclcpp</depend>
<depend>geometry_msgs</depend>
<export>
<costmap_2d plugin="${prefix}/gradient_layer.xml" />
<build_type>ament_cmake</build_type>
<buildtool_depend>rclcpp</buildtool_depend>
<buildtool_depend>std_msgs</buildtool_depend>
</export>
</package>

150
build/nav2_gradient_costmap_plugin/ament_cmake_core/stamps/package_xml_2_cmake.py.stamp Normal file
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#!/usr/bin/env python3
# Copyright 2014-2015 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
import argparse
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()

5
build/nav2_gradient_costmap_plugin/ament_cmake_core/stamps/path.sh.stamp Normal file
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@ -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

112
build/nav2_gradient_costmap_plugin/ament_cmake_core/stamps/templates_2_cmake.py.stamp Normal file
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@ -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()

1
build/nav2_gradient_costmap_plugin/ament_cmake_environment_hooks/ament_prefix_path.dsv Normal file
View File

@ -0,0 +1 @@
prepend-non-duplicate;AMENT_PREFIX_PATH;

46
build/nav2_gradient_costmap_plugin/ament_cmake_environment_hooks/local_setup.bash Normal file
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@ -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

2
build/nav2_gradient_costmap_plugin/ament_cmake_environment_hooks/local_setup.dsv Normal file
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@ -0,0 +1,2 @@
source;share/nav2_gradient_costmap_plugin/environment/ament_prefix_path.sh
source;share/nav2_gradient_costmap_plugin/environment/path.sh

184
build/nav2_gradient_costmap_plugin/ament_cmake_environment_hooks/local_setup.sh Normal file
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@ -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

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

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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

1
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prepend-non-duplicate-if-exists;PATH;bin

1
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share/nav2_gradient_costmap_plugin/gradient_layer.xml

1
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nav2_costmap_2d;pluginlib;rclcpp;geometry_msgs;ament_lint_auto;ament_lint_common

0
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1
build/nav2_gradient_costmap_plugin/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/nav2_gradient_costmap_plugin Normal file
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/opt/ros/humble

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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")

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# 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

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None

164
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# 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}")

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0

1
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# generated from colcon_core/shell/template/command_prefix.sh.em

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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

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/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

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<library path="nav2_gradient_costmap_plugin_core">
<class name="nav2_gradient_costmap_plugin/GradientLayer" type="nav2_gradient_costmap_plugin::GradientLayer" base_class_type="nav2_costmap_2d::Layer">
<description>This is an example plugin which puts repeating costs gradients to costmap</description>
</class>
</library>

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/*********************************************************************
*
* 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<geometry_msgs::msg::Point> transformed_footprint_;
std::vector<std::vector<geometry_msgs::msg::Point>> _free_polygons;
std::vector<PointInt> 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<geometry_msgs::msg::Point>::SharedPtr data_sub_;
rclcpp::Subscription<geometry_msgs::msg::Point>::SharedPtr subscription_;
void topic_callback(const geometry_msgs::msg::Point::SharedPtr msg);
};
} // namespace nav2_gradient_costmap_plugin
#endif // GRADIENT_LAYER_HPP_

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# 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)

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# 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)

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# 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

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# 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
}

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# 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

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# 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

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