test_dengjun
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3ebe2700b00340d09a1256d3b4a34b9b
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databall-official 2026-08-11 18:06:41 +08:00
parent b98663e589
commit c83fe38f4a
5 changed files with 47 additions and 45 deletions
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41
install/_local_setup_util_ps1.py
View File

@ -193,13 +193,12 @@ def process_dsv_file(
): ):
commands = [] commands = []
if _include_comments(): if _include_comments():
commands.append(FORMAT_STR_COMMENT_LINE.format_map({ commands.append(FORMAT_STR_COMMENT_LINE.format_map({'comment': dsv_path}))
'comment': dsv_path}))
with open(dsv_path, 'r') as h: with open(dsv_path, 'r') as h:
content = h.read() content = h.read()
lines = content.splitlines() lines = content.splitlines()
basename_map = OrderedDict() basenames = OrderedDict()
for i, line in enumerate(lines): for i, line in enumerate(lines):
# skip over empty or whitespace-only lines # skip over empty or whitespace-only lines
if not line.strip(): if not line.strip():
@ -224,21 +223,21 @@ def process_dsv_file(
else: else:
# group remaining source lines by basename # group remaining source lines by basename
path_without_ext, ext = os.path.splitext(remainder) path_without_ext, ext = os.path.splitext(remainder)
if path_without_ext not in basename_map: if path_without_ext not in basenames:
basename_map[path_without_ext] = set() basenames[path_without_ext] = set()
assert ext.startswith('.') assert ext.startswith('.')
ext = ext[1:] ext = ext[1:]
if ext in (primary_extension, additional_extension): if ext in (primary_extension, additional_extension):
basename_map[path_without_ext].add(ext) basenames[path_without_ext].add(ext)
# add the dsv extension to each basename if the file exists # add the dsv extension to each basename if the file exists
for basename, extensions in basename_map.items(): for basename, extensions in basenames.items():
if not os.path.isabs(basename): if not os.path.isabs(basename):
basename = os.path.join(prefix, basename) basename = os.path.join(prefix, basename)
if os.path.exists(basename + '.dsv'): if os.path.exists(basename + '.dsv'):
extensions.add('dsv') extensions.add('dsv')
for basename, extensions in basename_map.items(): for basename, extensions in basenames.items():
if not os.path.isabs(basename): if not os.path.isabs(basename):
basename = os.path.join(prefix, basename) basename = os.path.join(prefix, basename)
if 'dsv' in extensions: if 'dsv' in extensions:
@ -305,8 +304,8 @@ def handle_dsv_types_except_source(type_, remainder, prefix):
comment = f'skip extending {env_name} with not existing ' \ comment = f'skip extending {env_name} with not existing ' \
f'path: {value}' f'path: {value}'
if _include_comments(): if _include_comments():
commands.append(FORMAT_STR_COMMENT_LINE.format_map({ commands.append(
'comment': comment})) FORMAT_STR_COMMENT_LINE.format_map({'comment': comment}))
elif type_ == DSV_TYPE_APPEND_NON_DUPLICATE: elif type_ == DSV_TYPE_APPEND_NON_DUPLICATE:
commands += _append_unique_value(env_name, value) commands += _append_unique_value(env_name, value)
else: else:
@ -321,15 +320,15 @@ env_state = {}
def _append_unique_value(name, value): def _append_unique_value(name, value):
global env_state
if name not in env_state: if name not in env_state:
if os.environ.get(name): if os.environ.get(name):
env_state[name] = set(os.environ[name].split(os.pathsep)) env_state[name] = set(os.environ[name].split(os.pathsep))
else: else:
env_state[name] = set() env_state[name] = set()
# Append even if the variable has not been set yet, in case a shell script # append even if the variable has not been set yet, in case a shell script sets the
# sets the same variable without the knowledge of this Python script. # same variable without the knowledge of this Python script.
# Later, _remove_ending_separators() will cleanup any unintentional # later _remove_ending_separators() will cleanup any unintentional leading separator
# leading separator.
extend = FORMAT_STR_USE_ENV_VAR.format_map({'name': name}) + os.pathsep extend = FORMAT_STR_USE_ENV_VAR.format_map({'name': name}) + os.pathsep
line = FORMAT_STR_SET_ENV_VAR.format_map( line = FORMAT_STR_SET_ENV_VAR.format_map(
{'name': name, 'value': extend + value}) {'name': name, 'value': extend + value})
@ -343,15 +342,15 @@ def _append_unique_value(name, value):
def _prepend_unique_value(name, value): def _prepend_unique_value(name, value):
global env_state
if name not in env_state: if name not in env_state:
if os.environ.get(name): if os.environ.get(name):
env_state[name] = set(os.environ[name].split(os.pathsep)) env_state[name] = set(os.environ[name].split(os.pathsep))
else: else:
env_state[name] = set() env_state[name] = set()
# Prepend even if the variable has not been set yet, in case a shell script # prepend even if the variable has not been set yet, in case a shell script sets the
# sets the same variable without the knowledge of this Python script. # same variable without the knowledge of this Python script.
# Later, _remove_ending_separators() will cleanup any unintentional # later _remove_ending_separators() will cleanup any unintentional trailing separator
# trailing separator.
extend = os.pathsep + FORMAT_STR_USE_ENV_VAR.format_map({'name': name}) extend = os.pathsep + FORMAT_STR_USE_ENV_VAR.format_map({'name': name})
line = FORMAT_STR_SET_ENV_VAR.format_map( line = FORMAT_STR_SET_ENV_VAR.format_map(
{'name': name, 'value': value + extend}) {'name': name, 'value': value + extend})
@ -370,10 +369,10 @@ def _remove_ending_separators():
if FORMAT_STR_REMOVE_TRAILING_SEPARATOR is None: if FORMAT_STR_REMOVE_TRAILING_SEPARATOR is None:
return [] return []
global env_state
commands = [] commands = []
for name in env_state: for name in env_state:
# skip variables that already had values before this script started # skip variables that already had values before this script started prepending
# appending/prepending
if name in os.environ: if name in os.environ:
continue continue
commands += [ commands += [
@ -383,6 +382,7 @@ def _remove_ending_separators():
def _set(name, value): def _set(name, value):
global env_state
env_state[name] = value env_state[name] = value
line = FORMAT_STR_SET_ENV_VAR.format_map( line = FORMAT_STR_SET_ENV_VAR.format_map(
{'name': name, 'value': value}) {'name': name, 'value': value})
@ -390,6 +390,7 @@ def _set(name, value):
def _set_if_unset(name, value): def _set_if_unset(name, value):
global env_state
line = FORMAT_STR_SET_ENV_VAR.format_map( line = FORMAT_STR_SET_ENV_VAR.format_map(
{'name': name, 'value': value}) {'name': name, 'value': value})
if env_state.get(name, os.environ.get(name)): if env_state.get(name, os.environ.get(name)):

45
install/_local_setup_util_sh.py
View File

@ -12,8 +12,8 @@ FORMAT_STR_COMMENT_LINE = '# {comment}'
FORMAT_STR_SET_ENV_VAR = 'export {name}="{value}"' FORMAT_STR_SET_ENV_VAR = 'export {name}="{value}"'
FORMAT_STR_USE_ENV_VAR = '${name}' FORMAT_STR_USE_ENV_VAR = '${name}'
FORMAT_STR_INVOKE_SCRIPT = 'COLCON_CURRENT_PREFIX="{prefix}" _colcon_prefix_sh_source_script "{script_path}"' # noqa: E501 FORMAT_STR_INVOKE_SCRIPT = 'COLCON_CURRENT_PREFIX="{prefix}" _colcon_prefix_sh_source_script "{script_path}"' # noqa: E501
FORMAT_STR_REMOVE_LEADING_SEPARATOR = 'export {name}=${{{name}#:}}' # noqa: E501 FORMAT_STR_REMOVE_LEADING_SEPARATOR = 'if [ "$(echo -n ${name} | head -c 1)" = ":" ]; then export {name}=${{{name}#?}} ; fi' # noqa: E501
FORMAT_STR_REMOVE_TRAILING_SEPARATOR = 'export {name}=${{{name}%:}}' # noqa: E501 FORMAT_STR_REMOVE_TRAILING_SEPARATOR = 'if [ "$(echo -n ${name} | tail -c 1)" = ":" ]; then export {name}=${{{name}%?}} ; fi' # noqa: E501
DSV_TYPE_APPEND_NON_DUPLICATE = 'append-non-duplicate' DSV_TYPE_APPEND_NON_DUPLICATE = 'append-non-duplicate'
DSV_TYPE_PREPEND_NON_DUPLICATE = 'prepend-non-duplicate' DSV_TYPE_PREPEND_NON_DUPLICATE = 'prepend-non-duplicate'
@ -193,13 +193,12 @@ def process_dsv_file(
): ):
commands = [] commands = []
if _include_comments(): if _include_comments():
commands.append(FORMAT_STR_COMMENT_LINE.format_map({ commands.append(FORMAT_STR_COMMENT_LINE.format_map({'comment': dsv_path}))
'comment': dsv_path}))
with open(dsv_path, 'r') as h: with open(dsv_path, 'r') as h:
content = h.read() content = h.read()
lines = content.splitlines() lines = content.splitlines()
basename_map = OrderedDict() basenames = OrderedDict()
for i, line in enumerate(lines): for i, line in enumerate(lines):
# skip over empty or whitespace-only lines # skip over empty or whitespace-only lines
if not line.strip(): if not line.strip():
@ -224,21 +223,21 @@ def process_dsv_file(
else: else:
# group remaining source lines by basename # group remaining source lines by basename
path_without_ext, ext = os.path.splitext(remainder) path_without_ext, ext = os.path.splitext(remainder)
if path_without_ext not in basename_map: if path_without_ext not in basenames:
basename_map[path_without_ext] = set() basenames[path_without_ext] = set()
assert ext.startswith('.') assert ext.startswith('.')
ext = ext[1:] ext = ext[1:]
if ext in (primary_extension, additional_extension): if ext in (primary_extension, additional_extension):
basename_map[path_without_ext].add(ext) basenames[path_without_ext].add(ext)
# add the dsv extension to each basename if the file exists # add the dsv extension to each basename if the file exists
for basename, extensions in basename_map.items(): for basename, extensions in basenames.items():
if not os.path.isabs(basename): if not os.path.isabs(basename):
basename = os.path.join(prefix, basename) basename = os.path.join(prefix, basename)
if os.path.exists(basename + '.dsv'): if os.path.exists(basename + '.dsv'):
extensions.add('dsv') extensions.add('dsv')
for basename, extensions in basename_map.items(): for basename, extensions in basenames.items():
if not os.path.isabs(basename): if not os.path.isabs(basename):
basename = os.path.join(prefix, basename) basename = os.path.join(prefix, basename)
if 'dsv' in extensions: if 'dsv' in extensions:
@ -305,8 +304,8 @@ def handle_dsv_types_except_source(type_, remainder, prefix):
comment = f'skip extending {env_name} with not existing ' \ comment = f'skip extending {env_name} with not existing ' \
f'path: {value}' f'path: {value}'
if _include_comments(): if _include_comments():
commands.append(FORMAT_STR_COMMENT_LINE.format_map({ commands.append(
'comment': comment})) FORMAT_STR_COMMENT_LINE.format_map({'comment': comment}))
elif type_ == DSV_TYPE_APPEND_NON_DUPLICATE: elif type_ == DSV_TYPE_APPEND_NON_DUPLICATE:
commands += _append_unique_value(env_name, value) commands += _append_unique_value(env_name, value)
else: else:
@ -321,15 +320,15 @@ env_state = {}
def _append_unique_value(name, value): def _append_unique_value(name, value):
global env_state
if name not in env_state: if name not in env_state:
if os.environ.get(name): if os.environ.get(name):
env_state[name] = set(os.environ[name].split(os.pathsep)) env_state[name] = set(os.environ[name].split(os.pathsep))
else: else:
env_state[name] = set() env_state[name] = set()
# Append even if the variable has not been set yet, in case a shell script # append even if the variable has not been set yet, in case a shell script sets the
# sets the same variable without the knowledge of this Python script. # same variable without the knowledge of this Python script.
# Later, _remove_ending_separators() will cleanup any unintentional # later _remove_ending_separators() will cleanup any unintentional leading separator
# leading separator.
extend = FORMAT_STR_USE_ENV_VAR.format_map({'name': name}) + os.pathsep extend = FORMAT_STR_USE_ENV_VAR.format_map({'name': name}) + os.pathsep
line = FORMAT_STR_SET_ENV_VAR.format_map( line = FORMAT_STR_SET_ENV_VAR.format_map(
{'name': name, 'value': extend + value}) {'name': name, 'value': extend + value})
@ -343,15 +342,15 @@ def _append_unique_value(name, value):
def _prepend_unique_value(name, value): def _prepend_unique_value(name, value):
global env_state
if name not in env_state: if name not in env_state:
if os.environ.get(name): if os.environ.get(name):
env_state[name] = set(os.environ[name].split(os.pathsep)) env_state[name] = set(os.environ[name].split(os.pathsep))
else: else:
env_state[name] = set() env_state[name] = set()
# Prepend even if the variable has not been set yet, in case a shell script # prepend even if the variable has not been set yet, in case a shell script sets the
# sets the same variable without the knowledge of this Python script. # same variable without the knowledge of this Python script.
# Later, _remove_ending_separators() will cleanup any unintentional # later _remove_ending_separators() will cleanup any unintentional trailing separator
# trailing separator.
extend = os.pathsep + FORMAT_STR_USE_ENV_VAR.format_map({'name': name}) extend = os.pathsep + FORMAT_STR_USE_ENV_VAR.format_map({'name': name})
line = FORMAT_STR_SET_ENV_VAR.format_map( line = FORMAT_STR_SET_ENV_VAR.format_map(
{'name': name, 'value': value + extend}) {'name': name, 'value': value + extend})
@ -370,10 +369,10 @@ def _remove_ending_separators():
if FORMAT_STR_REMOVE_TRAILING_SEPARATOR is None: if FORMAT_STR_REMOVE_TRAILING_SEPARATOR is None:
return [] return []
global env_state
commands = [] commands = []
for name in env_state: for name in env_state:
# skip variables that already had values before this script started # skip variables that already had values before this script started prepending
# appending/prepending
if name in os.environ: if name in os.environ:
continue continue
commands += [ commands += [
@ -383,6 +382,7 @@ def _remove_ending_separators():
def _set(name, value): def _set(name, value):
global env_state
env_state[name] = value env_state[name] = value
line = FORMAT_STR_SET_ENV_VAR.format_map( line = FORMAT_STR_SET_ENV_VAR.format_map(
{'name': name, 'value': value}) {'name': name, 'value': value})
@ -390,6 +390,7 @@ def _set(name, value):
def _set_if_unset(name, value): def _set_if_unset(name, value):
global env_state
line = FORMAT_STR_SET_ENV_VAR.format_map( line = FORMAT_STR_SET_ENV_VAR.format_map(
{'name': name, 'value': value}) {'name': name, 'value': value})
if env_state.get(name, os.environ.get(name)): if env_state.get(name, os.environ.get(name)):

2
install/bcr_bot/share/ament_index/resource_index/parent_prefix_path/bcr_bot
View File

@ -1 +1 @@
/workspace/install/bcr_bot:/opt/ros/humble /opt/ros/humble

2
install/bcr_bot/share/bcr_bot/urdf/gz.xacro
View File

@ -87,7 +87,7 @@
<xacro:if value="$(arg camera_enabled)"> <xacro:if value="$(arg camera_enabled)">
<gazebo reference="kinect_camera"> <gazebo reference="kinect_camera">
<sensor type="depth_camera" name="kinect_camera"> <sensor type="depth_camera" name="kinect_camera">
<update_rate>30.0</update_rate> <update_rate>10.0</update_rate>
<topic>kinect_camera</topic> <topic>kinect_camera</topic>
<gz_frame_id>kinect_camera</gz_frame_id> <gz_frame_id>kinect_camera</gz_frame_id>
<camera> <camera>

2
src/bcr_bot/urdf/gz.xacro
View File

@ -87,7 +87,7 @@
<xacro:if value="$(arg camera_enabled)"> <xacro:if value="$(arg camera_enabled)">
<gazebo reference="kinect_camera"> <gazebo reference="kinect_camera">
<sensor type="depth_camera" name="kinect_camera"> <sensor type="depth_camera" name="kinect_camera">
<update_rate>30.0</update_rate> <update_rate>10.0</update_rate>
<topic>kinect_camera</topic> <topic>kinect_camera</topic>
<gz_frame_id>kinect_camera</gz_frame_id> <gz_frame_id>kinect_camera</gz_frame_id>
<camera> <camera>