test_dengjun
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c7134c25dfe642f3a467e3259200539d
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This commit is contained in:
databall-official 2026-07-31 15:35:33 +08:00
parent 5ff3442693
commit aab2f9b350
514 changed files with 372516 additions and 11523 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
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arg [cmTC_cec64] ==> ignore
arg [/usr/lib/gcc/x86_64-linux-gnu/11/../../../x86_64-linux-gnu/Scrt1.o] ==> obj [/usr/lib/gcc/x86_64-linux-gnu/11/../../../x86_64-linux-gnu/Scrt1.o]
arg [/usr/lib/gcc/x86_64-linux-gnu/11/../../../x86_64-linux-gnu/crti.o] ==> obj [/usr/lib/gcc/x86_64-linux-gnu/11/../../../x86_64-linux-gnu/crti.o]
arg [/usr/lib/gcc/x86_64-linux-gnu/11/crtbeginS.o] ==> obj [/usr/lib/gcc/x86_64-linux-gnu/11/crtbeginS.o]
@ -420,7 +420,7 @@ Parsed CXX implicit link information from above output:
arg [-L/usr/lib/x86_64-linux-gnu] ==> dir [/usr/lib/x86_64-linux-gnu]
arg [-L/usr/lib/../lib] ==> dir [/usr/lib/../lib]
arg [-L/usr/lib/gcc/x86_64-linux-gnu/11/../../..] ==> dir [/usr/lib/gcc/x86_64-linux-gnu/11/../../..]
arg [CMakeFiles/cmTC_066bf.dir/CMakeCXXCompilerABI.cpp.o] ==> ignore
arg [CMakeFiles/cmTC_cec64.dir/CMakeCXXCompilerABI.cpp.o] ==> ignore
arg [-lstdc++] ==> lib [stdc++]
arg [-lm] ==> lib [m]
arg [-lgcc_s] ==> lib [gcc_s]
@ -450,13 +450,13 @@ Parsed CXX implicit link information from above output:
Determining if the include file pthread.h exists passed with the following output:
Change Dir: /workspace/build/nav2_rrtstar_planner/CMakeFiles/CMakeTmp
Run Build Command(s):/usr/bin/gmake -f Makefile cmTC_a0a4c/fast && /usr/bin/gmake -f CMakeFiles/cmTC_a0a4c.dir/build.make CMakeFiles/cmTC_a0a4c.dir/build
Run Build Command(s):/usr/bin/gmake -f Makefile cmTC_8c616/fast && /usr/bin/gmake -f CMakeFiles/cmTC_8c616.dir/build.make CMakeFiles/cmTC_8c616.dir/build
gmake[1]: Entering directory '/workspace/build/nav2_rrtstar_planner/CMakeFiles/CMakeTmp'
Building C object CMakeFiles/cmTC_a0a4c.dir/CheckIncludeFile.c.o
/usr/bin/cc -o CMakeFiles/cmTC_a0a4c.dir/CheckIncludeFile.c.o -c /workspace/build/nav2_rrtstar_planner/CMakeFiles/CMakeTmp/CheckIncludeFile.c
Linking C executable cmTC_a0a4c
/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_a0a4c.dir/link.txt --verbose=1
/usr/bin/cc CMakeFiles/cmTC_a0a4c.dir/CheckIncludeFile.c.o -o cmTC_a0a4c
Building C object CMakeFiles/cmTC_8c616.dir/CheckIncludeFile.c.o
/usr/bin/cc -o CMakeFiles/cmTC_8c616.dir/CheckIncludeFile.c.o -c /workspace/build/nav2_rrtstar_planner/CMakeFiles/CMakeTmp/CheckIncludeFile.c
Linking C executable cmTC_8c616
/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_8c616.dir/link.txt --verbose=1
/usr/bin/cc CMakeFiles/cmTC_8c616.dir/CheckIncludeFile.c.o -o cmTC_8c616
gmake[1]: Leaving directory '/workspace/build/nav2_rrtstar_planner/CMakeFiles/CMakeTmp'
@ -464,13 +464,13 @@ gmake[1]: Leaving directory '/workspace/build/nav2_rrtstar_planner/CMakeFiles/CM
Performing C SOURCE FILE Test CMAKE_HAVE_LIBC_PTHREAD succeeded with the following output:
Change Dir: /workspace/build/nav2_rrtstar_planner/CMakeFiles/CMakeTmp
Run Build Command(s):/usr/bin/gmake -f Makefile cmTC_3c9c1/fast && /usr/bin/gmake -f CMakeFiles/cmTC_3c9c1.dir/build.make CMakeFiles/cmTC_3c9c1.dir/build
Run Build Command(s):/usr/bin/gmake -f Makefile cmTC_12e53/fast && /usr/bin/gmake -f CMakeFiles/cmTC_12e53.dir/build.make CMakeFiles/cmTC_12e53.dir/build
gmake[1]: Entering directory '/workspace/build/nav2_rrtstar_planner/CMakeFiles/CMakeTmp'
Building C object CMakeFiles/cmTC_3c9c1.dir/src.c.o
/usr/bin/cc -DCMAKE_HAVE_LIBC_PTHREAD -o CMakeFiles/cmTC_3c9c1.dir/src.c.o -c /workspace/build/nav2_rrtstar_planner/CMakeFiles/CMakeTmp/src.c
Linking C executable cmTC_3c9c1
/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_3c9c1.dir/link.txt --verbose=1
/usr/bin/cc CMakeFiles/cmTC_3c9c1.dir/src.c.o -o cmTC_3c9c1
Building C object CMakeFiles/cmTC_12e53.dir/src.c.o
/usr/bin/cc -DCMAKE_HAVE_LIBC_PTHREAD -o CMakeFiles/cmTC_12e53.dir/src.c.o -c /workspace/build/nav2_rrtstar_planner/CMakeFiles/CMakeTmp/src.c
Linking C executable cmTC_12e53
/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_12e53.dir/link.txt --verbose=1
/usr/bin/cc CMakeFiles/cmTC_12e53.dir/src.c.o -o cmTC_12e53
gmake[1]: Leaving directory '/workspace/build/nav2_rrtstar_planner/CMakeFiles/CMakeTmp'

11
build/nav2_rrtstar_planner/CMakeFiles/Makefile.cmake
View File

@ -95,14 +95,6 @@ set(CMAKE_MAKEFILE_DEPENDS
"/opt/ros/humble/share/ament_cmake_core/cmake/index/ament_index_register_package.cmake"
"/opt/ros/humble/share/ament_cmake_core/cmake/index/ament_index_register_resource.cmake"
"/opt/ros/humble/share/ament_cmake_core/cmake/package_templates/templates_2_cmake.py"
"/opt/ros/humble/share/ament_cmake_core/cmake/symlink_install/ament_cmake_symlink_install.cmake.in"
"/opt/ros/humble/share/ament_cmake_core/cmake/symlink_install/ament_cmake_symlink_install_append_install_code.cmake"
"/opt/ros/humble/share/ament_cmake_core/cmake/symlink_install/ament_cmake_symlink_install_directory.cmake"
"/opt/ros/humble/share/ament_cmake_core/cmake/symlink_install/ament_cmake_symlink_install_files.cmake"
"/opt/ros/humble/share/ament_cmake_core/cmake/symlink_install/ament_cmake_symlink_install_programs.cmake"
"/opt/ros/humble/share/ament_cmake_core/cmake/symlink_install/ament_cmake_symlink_install_targets.cmake"
"/opt/ros/humble/share/ament_cmake_core/cmake/symlink_install/ament_cmake_symlink_install_uninstall_script.cmake.in"
"/opt/ros/humble/share/ament_cmake_core/cmake/symlink_install/install.cmake"
"/opt/ros/humble/share/ament_cmake_core/cmake/uninstall_target/ament_cmake_uninstall_target.cmake.in"
"/opt/ros/humble/share/ament_cmake_core/cmake/uninstall_target/ament_cmake_uninstall_target_append_uninstall_code.cmake"
"/opt/ros/humble/share/ament_cmake_cppcheck/cmake/ament_cmake_cppcheck-extras.cmake"
@ -1225,8 +1217,6 @@ set(CMAKE_MAKEFILE_PRODUCTS
"CMakeFiles/3.22.1/CMakeCXXCompiler.cmake"
"ament_cmake_core/stamps/templates_2_cmake.py.stamp"
"ament_cmake_uninstall_target/ament_cmake_uninstall_target.cmake"
"ament_cmake_symlink_install/ament_cmake_symlink_install.cmake"
"ament_cmake_symlink_install/ament_cmake_symlink_install_uninstall_script.cmake"
"CTestConfiguration.ini"
"ament_cmake_core/stamps/package.xml.stamp"
"ament_cmake_core/stamps/package_xml_2_cmake.py.stamp"
@ -1246,7 +1236,6 @@ set(CMAKE_MAKEFILE_PRODUCTS
"ament_cmake_core/nav2_rrtstar_plannerConfig.cmake"
"ament_cmake_core/stamps/nameConfig-version.cmake.in.stamp"
"ament_cmake_core/nav2_rrtstar_plannerConfig-version.cmake"
"ament_cmake_symlink_install_targets_0_.cmake"
"ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/nav2_rrtstar_planner"
"ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/nav2_rrtstar_planner"
"ament_cmake_index/share/ament_index/resource_index/packages/nav2_rrtstar_planner"

2
build/nav2_rrtstar_planner/CMakeFiles/nav2_rrtstar_planner_plugin.dir/link.txt
View File

File diff suppressed because one or more lines are too long

2
build/nav2_rrtstar_planner/CTestConfiguration.ini
View File

@ -11,7 +11,7 @@ BuildDirectory: /workspace/build/nav2_rrtstar_planner
CostDataFile:
# Site is something like machine.domain, i.e. pragmatic.crd
Site: pms-space-6950f1ca-1599-42c5-a926-29eb731cb95c-3b8732
Site: ip-172-31-70-30.cn-northwest-1.compute.internal
# Build name is osname-revision-compiler, i.e. Linux-2.4.2-2smp-c++
BuildName:

2
build/nav2_rrtstar_planner/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/nav2_rrtstar_planner
View File

@ -1 +1 @@
/opt/ros/humble
/workspace/install/vlm_perception_pkg:/workspace/install/vlm_nav_pkg:/workspace/install/turtlebot3_simulations:/workspace/install/turtlebot3_gazebo:/workspace/install/nav2_rrtstar_planner:/opt/ros/humble

391
build/nav2_rrtstar_planner/ament_cmake_symlink_install/ament_cmake_symlink_install.cmake
View File

@ -1,391 +0,0 @@
# generated from
# ament_cmake_core/cmake/symlink_install/ament_cmake_symlink_install.cmake.in
# create empty symlink install manifest before starting install step
file(WRITE "${CMAKE_CURRENT_BINARY_DIR}/symlink_install_manifest.txt")
#
# Reimplement CMake install(DIRECTORY) command to use symlinks instead of
# copying resources.
#
# :param cmake_current_source_dir: The CMAKE_CURRENT_SOURCE_DIR when install
# was invoked
# :type cmake_current_source_dir: string
# :param ARGN: the same arguments as the CMake install command.
# :type ARGN: various
#
function(ament_cmake_symlink_install_directory cmake_current_source_dir)
cmake_parse_arguments(ARG "OPTIONAL" "DESTINATION" "DIRECTORY;PATTERN;PATTERN_EXCLUDE" ${ARGN})
if(ARG_UNPARSED_ARGUMENTS)
message(FATAL_ERROR "ament_cmake_symlink_install_directory() called with "
"unused/unsupported arguments: ${ARG_UNPARSED_ARGUMENTS}")
endif()
# make destination absolute path and ensure that it exists
if(NOT IS_ABSOLUTE "${ARG_DESTINATION}")
set(ARG_DESTINATION "/workspace/install/nav2_rrtstar_planner/${ARG_DESTINATION}")
endif()
if(NOT EXISTS "${ARG_DESTINATION}")
file(MAKE_DIRECTORY "${ARG_DESTINATION}")
endif()
# default pattern to include
if(NOT ARG_PATTERN)
set(ARG_PATTERN "*")
endif()
# iterate over directories
foreach(dir ${ARG_DIRECTORY})
# make dir an absolute path
if(NOT IS_ABSOLUTE "${dir}")
set(dir "${cmake_current_source_dir}/${dir}")
endif()
if(EXISTS "${dir}")
# if directory has no trailing slash
# append folder name to destination
set(destination "${ARG_DESTINATION}")
string(LENGTH "${dir}" length)
math(EXPR offset "${length} - 1")
string(SUBSTRING "${dir}" ${offset} 1 dir_last_char)
if(NOT dir_last_char STREQUAL "/")
get_filename_component(destination_name "${dir}" NAME)
set(destination "${destination}/${destination_name}")
else()
# remove trailing slash
string(SUBSTRING "${dir}" 0 ${offset} dir)
endif()
# Create destination directory.
# This does *not* solve the problem of empty directories WITHIN the install tree,
# but does make sure that the top-level directory specified by the caller gets created.
file(MAKE_DIRECTORY "${destination}")
# glob recursive files
set(relative_files "")
foreach(pattern ${ARG_PATTERN})
file(
GLOB_RECURSE
include_files
RELATIVE "${dir}"
"${dir}/${pattern}"
)
if(NOT include_files STREQUAL "")
list(APPEND relative_files ${include_files})
endif()
endforeach()
foreach(pattern ${ARG_PATTERN_EXCLUDE})
file(
GLOB_RECURSE
exclude_files
RELATIVE "${dir}"
"${dir}/${pattern}"
)
if(NOT exclude_files STREQUAL "")
list(REMOVE_ITEM relative_files ${exclude_files})
endif()
endforeach()
list(SORT relative_files)
foreach(relative_file ${relative_files})
set(absolute_file "${dir}/${relative_file}")
# determine link name for file including destination path
set(symlink "${destination}/${relative_file}")
# ensure that destination exists
get_filename_component(symlink_dir "${symlink}" PATH)
if(NOT EXISTS "${symlink_dir}")
file(MAKE_DIRECTORY "${symlink_dir}")
endif()
_ament_cmake_symlink_install_create_symlink("${absolute_file}" "${symlink}")
endforeach()
else()
if(NOT ARG_OPTIONAL)
message(FATAL_ERROR
"ament_cmake_symlink_install_directory() can't find '${dir}'")
endif()
endif()
endforeach()
endfunction()
#
# Reimplement CMake install(FILES) command to use symlinks instead of copying
# resources.
#
# :param cmake_current_source_dir: The CMAKE_CURRENT_SOURCE_DIR when install
# was invoked
# :type cmake_current_source_dir: string
# :param ARGN: the same arguments as the CMake install command.
# :type ARGN: various
#
function(ament_cmake_symlink_install_files cmake_current_source_dir)
cmake_parse_arguments(ARG "OPTIONAL" "DESTINATION;RENAME" "FILES" ${ARGN})
if(ARG_UNPARSED_ARGUMENTS)
message(FATAL_ERROR "ament_cmake_symlink_install_files() called with "
"unused/unsupported arguments: ${ARG_UNPARSED_ARGUMENTS}")
endif()
# make destination an absolute path and ensure that it exists
if(NOT IS_ABSOLUTE "${ARG_DESTINATION}")
set(ARG_DESTINATION "/workspace/install/nav2_rrtstar_planner/${ARG_DESTINATION}")
endif()
if(NOT EXISTS "${ARG_DESTINATION}")
file(MAKE_DIRECTORY "${ARG_DESTINATION}")
endif()
if(ARG_RENAME)
list(LENGTH ARG_FILES file_count)
if(NOT file_count EQUAL 1)
message(FATAL_ERROR "ament_cmake_symlink_install_files() called with "
"RENAME argument but not with a single file")
endif()
endif()
# iterate over files
foreach(file ${ARG_FILES})
# make file an absolute path
if(NOT IS_ABSOLUTE "${file}")
set(file "${cmake_current_source_dir}/${file}")
endif()
if(EXISTS "${file}")
# determine link name for file including destination path
get_filename_component(filename "${file}" NAME)
if(NOT ARG_RENAME)
set(symlink "${ARG_DESTINATION}/${filename}")
else()
set(symlink "${ARG_DESTINATION}/${ARG_RENAME}")
endif()
_ament_cmake_symlink_install_create_symlink("${file}" "${symlink}")
else()
if(NOT ARG_OPTIONAL)
message(FATAL_ERROR
"ament_cmake_symlink_install_files() can't find '${file}'")
endif()
endif()
endforeach()
endfunction()
#
# Reimplement CMake install(PROGRAMS) command to use symlinks instead of copying
# resources.
#
# :param cmake_current_source_dir: The CMAKE_CURRENT_SOURCE_DIR when install
# was invoked
# :type cmake_current_source_dir: string
# :param ARGN: the same arguments as the CMake install command.
# :type ARGN: various
#
function(ament_cmake_symlink_install_programs cmake_current_source_dir)
cmake_parse_arguments(ARG "OPTIONAL" "DESTINATION" "PROGRAMS" ${ARGN})
if(ARG_UNPARSED_ARGUMENTS)
message(FATAL_ERROR "ament_cmake_symlink_install_programs() called with "
"unused/unsupported arguments: ${ARG_UNPARSED_ARGUMENTS}")
endif()
# make destination an absolute path and ensure that it exists
if(NOT IS_ABSOLUTE "${ARG_DESTINATION}")
set(ARG_DESTINATION "/workspace/install/nav2_rrtstar_planner/${ARG_DESTINATION}")
endif()
if(NOT EXISTS "${ARG_DESTINATION}")
file(MAKE_DIRECTORY "${ARG_DESTINATION}")
endif()
# iterate over programs
foreach(file ${ARG_PROGRAMS})
# make file an absolute path
if(NOT IS_ABSOLUTE "${file}")
set(file "${cmake_current_source_dir}/${file}")
endif()
if(EXISTS "${file}")
# determine link name for file including destination path
get_filename_component(filename "${file}" NAME)
set(symlink "${ARG_DESTINATION}/${filename}")
_ament_cmake_symlink_install_create_symlink("${file}" "${symlink}")
else()
if(NOT ARG_OPTIONAL)
message(FATAL_ERROR
"ament_cmake_symlink_install_programs() can't find '${file}'")
endif()
endif()
endforeach()
endfunction()
#
# Reimplement CMake install(TARGETS) command to use symlinks instead of copying
# resources.
#
# :param TARGET_FILES: the absolute files, replacing the name of targets passed
# in as TARGETS
# :type TARGET_FILES: list of files
# :param ARGN: the same arguments as the CMake install command except that
# keywords identifying the kind of type and the DESTINATION keyword must be
# joined with an underscore, e.g. ARCHIVE_DESTINATION.
# :type ARGN: various
#
function(ament_cmake_symlink_install_targets)
cmake_parse_arguments(ARG "OPTIONAL" "ARCHIVE_DESTINATION;DESTINATION;LIBRARY_DESTINATION;RUNTIME_DESTINATION"
"TARGETS;TARGET_FILES" ${ARGN})
if(ARG_UNPARSED_ARGUMENTS)
message(FATAL_ERROR "ament_cmake_symlink_install_targets() called with "
"unused/unsupported arguments: ${ARG_UNPARSED_ARGUMENTS}")
endif()
# iterate over target files
foreach(file ${ARG_TARGET_FILES})
if(NOT IS_ABSOLUTE "${file}")
message(FATAL_ERROR "ament_cmake_symlink_install_targets() target file "
"'${file}' must be an absolute path")
endif()
# determine destination of file based on extension
set(destination "")
get_filename_component(fileext "${file}" EXT)
if(fileext STREQUAL ".a" OR fileext STREQUAL ".lib")
set(destination "${ARG_ARCHIVE_DESTINATION}")
elseif(fileext STREQUAL ".dylib" OR fileext MATCHES "\\.so(\\.[0-9]+)?(\\.[0-9]+)?(\\.[0-9]+)?$")
set(destination "${ARG_LIBRARY_DESTINATION}")
elseif(fileext STREQUAL "" OR fileext STREQUAL ".dll" OR fileext STREQUAL ".exe")
set(destination "${ARG_RUNTIME_DESTINATION}")
endif()
if(destination STREQUAL "")
set(destination "${ARG_DESTINATION}")
endif()
# make destination an absolute path and ensure that it exists
if(NOT IS_ABSOLUTE "${destination}")
set(destination "/workspace/install/nav2_rrtstar_planner/${destination}")
endif()
if(NOT EXISTS "${destination}")
file(MAKE_DIRECTORY "${destination}")
endif()
if(EXISTS "${file}")
# determine link name for file including destination path
get_filename_component(filename "${file}" NAME)
set(symlink "${destination}/${filename}")
_ament_cmake_symlink_install_create_symlink("${file}" "${symlink}")
else()
if(NOT ARG_OPTIONAL)
message(FATAL_ERROR
"ament_cmake_symlink_install_targets() can't find '${file}'")
endif()
endif()
endforeach()
endfunction()
function(_ament_cmake_symlink_install_create_symlink absolute_file symlink)
# register symlink for being removed during install step
file(APPEND "${CMAKE_CURRENT_BINARY_DIR}/symlink_install_manifest.txt"
"${symlink}\n")
# avoid any work if correct symlink is already in place
if(EXISTS "${symlink}" AND IS_SYMLINK "${symlink}")
get_filename_component(destination "${symlink}" REALPATH)
get_filename_component(real_absolute_file "${absolute_file}" REALPATH)
if(destination STREQUAL real_absolute_file)
message(STATUS "Up-to-date symlink: ${symlink}")
return()
endif()
endif()
message(STATUS "Symlinking: ${symlink}")
if(EXISTS "${symlink}" OR IS_SYMLINK "${symlink}")
file(REMOVE "${symlink}")
endif()
execute_process(
COMMAND "/usr/bin/cmake" "-E" "create_symlink"
"${absolute_file}"
"${symlink}"
)
# the CMake command does not provide a return code so check manually
if(NOT EXISTS "${symlink}" OR NOT IS_SYMLINK "${symlink}")
get_filename_component(destination "${symlink}" REALPATH)
message(FATAL_ERROR
"Could not create symlink '${symlink}' pointing to '${absolute_file}'")
endif()
endfunction()
# end of template
message(STATUS "Execute custom install script")
# begin of custom install code
# install(FILES "global_planner_plugin.xml" "DESTINATION" "share/nav2_rrtstar_planner/")
ament_cmake_symlink_install_files("/workspace/src/TurtleBot-RRT-Star" FILES "global_planner_plugin.xml" "DESTINATION" "share/nav2_rrtstar_planner/")
# install("TARGETS" "nav2_rrtstar_planner_plugin" "ARCHIVE_DESTINATION" "lib" "LIBRARY_DESTINATION" "lib" "RUNTIME_DESTINATION" "lib/nav2_rrtstar_planner")
include("/workspace/build/nav2_rrtstar_planner/ament_cmake_symlink_install_targets_0_${CMAKE_INSTALL_CONFIG_NAME}.cmake")
# install(DIRECTORY "include/" "DESTINATION" "include/")
ament_cmake_symlink_install_directory("/workspace/src/TurtleBot-RRT-Star" DIRECTORY "include/" "DESTINATION" "include/")
# install(FILES "global_planner_plugin.xml" "DESTINATION" "share/nav2_rrtstar_planner")
ament_cmake_symlink_install_files("/workspace/src/TurtleBot-RRT-Star" FILES "global_planner_plugin.xml" "DESTINATION" "share/nav2_rrtstar_planner")
# install(DIRECTORY "launch/" "DESTINATION" "share/nav2_rrtstar_planner/launch")
ament_cmake_symlink_install_directory("/workspace/src/TurtleBot-RRT-Star" DIRECTORY "launch/" "DESTINATION" "share/nav2_rrtstar_planner/launch")
# install(FILES "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/environment_hook/library_path.sh" "DESTINATION" "share/nav2_rrtstar_planner/environment")
ament_cmake_symlink_install_files("/workspace/src/TurtleBot-RRT-Star" FILES "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/environment_hook/library_path.sh" "DESTINATION" "share/nav2_rrtstar_planner/environment")
# install(FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/library_path.dsv" "DESTINATION" "share/nav2_rrtstar_planner/environment")
ament_cmake_symlink_install_files("/workspace/src/TurtleBot-RRT-Star" FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/library_path.dsv" "DESTINATION" "share/nav2_rrtstar_planner/environment")
# install(FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/nav2_rrtstar_planner" "DESTINATION" "share/ament_index/resource_index/package_run_dependencies")
ament_cmake_symlink_install_files("/workspace/src/TurtleBot-RRT-Star" FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/nav2_rrtstar_planner" "DESTINATION" "share/ament_index/resource_index/package_run_dependencies")
# install(FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/nav2_rrtstar_planner" "DESTINATION" "share/ament_index/resource_index/parent_prefix_path")
ament_cmake_symlink_install_files("/workspace/src/TurtleBot-RRT-Star" FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/nav2_rrtstar_planner" "DESTINATION" "share/ament_index/resource_index/parent_prefix_path")
# install(FILES "/opt/ros/humble/share/ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh" "DESTINATION" "share/nav2_rrtstar_planner/environment")
ament_cmake_symlink_install_files("/workspace/src/TurtleBot-RRT-Star" FILES "/opt/ros/humble/share/ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh" "DESTINATION" "share/nav2_rrtstar_planner/environment")
# install(FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/ament_prefix_path.dsv" "DESTINATION" "share/nav2_rrtstar_planner/environment")
ament_cmake_symlink_install_files("/workspace/src/TurtleBot-RRT-Star" FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/ament_prefix_path.dsv" "DESTINATION" "share/nav2_rrtstar_planner/environment")
# install(FILES "/opt/ros/humble/share/ament_cmake_core/cmake/environment_hooks/environment/path.sh" "DESTINATION" "share/nav2_rrtstar_planner/environment")
ament_cmake_symlink_install_files("/workspace/src/TurtleBot-RRT-Star" FILES "/opt/ros/humble/share/ament_cmake_core/cmake/environment_hooks/environment/path.sh" "DESTINATION" "share/nav2_rrtstar_planner/environment")
# install(FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/path.dsv" "DESTINATION" "share/nav2_rrtstar_planner/environment")
ament_cmake_symlink_install_files("/workspace/src/TurtleBot-RRT-Star" FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/path.dsv" "DESTINATION" "share/nav2_rrtstar_planner/environment")
# install(FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/local_setup.bash" "DESTINATION" "share/nav2_rrtstar_planner")
ament_cmake_symlink_install_files("/workspace/src/TurtleBot-RRT-Star" FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/local_setup.bash" "DESTINATION" "share/nav2_rrtstar_planner")
# install(FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/local_setup.sh" "DESTINATION" "share/nav2_rrtstar_planner")
ament_cmake_symlink_install_files("/workspace/src/TurtleBot-RRT-Star" FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/local_setup.sh" "DESTINATION" "share/nav2_rrtstar_planner")
# install(FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/local_setup.zsh" "DESTINATION" "share/nav2_rrtstar_planner")
ament_cmake_symlink_install_files("/workspace/src/TurtleBot-RRT-Star" FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/local_setup.zsh" "DESTINATION" "share/nav2_rrtstar_planner")
# install(FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/local_setup.dsv" "DESTINATION" "share/nav2_rrtstar_planner")
ament_cmake_symlink_install_files("/workspace/src/TurtleBot-RRT-Star" FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/local_setup.dsv" "DESTINATION" "share/nav2_rrtstar_planner")
# install(FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/package.dsv" "DESTINATION" "share/nav2_rrtstar_planner")
ament_cmake_symlink_install_files("/workspace/src/TurtleBot-RRT-Star" FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/package.dsv" "DESTINATION" "share/nav2_rrtstar_planner")
# install(FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_index/share/ament_index/resource_index/packages/nav2_rrtstar_planner" "DESTINATION" "share/ament_index/resource_index/packages")
ament_cmake_symlink_install_files("/workspace/src/TurtleBot-RRT-Star" FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_index/share/ament_index/resource_index/packages/nav2_rrtstar_planner" "DESTINATION" "share/ament_index/resource_index/packages")
# install(FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_index/share/ament_index/resource_index/nav2_core__pluginlib__plugin/nav2_rrtstar_planner" "DESTINATION" "share/ament_index/resource_index/nav2_core__pluginlib__plugin")
ament_cmake_symlink_install_files("/workspace/src/TurtleBot-RRT-Star" FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_index/share/ament_index/resource_index/nav2_core__pluginlib__plugin/nav2_rrtstar_planner" "DESTINATION" "share/ament_index/resource_index/nav2_core__pluginlib__plugin")
# install(FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_export_include_directories/ament_cmake_export_include_directories-extras.cmake" "DESTINATION" "share/nav2_rrtstar_planner/cmake")
ament_cmake_symlink_install_files("/workspace/src/TurtleBot-RRT-Star" FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_export_include_directories/ament_cmake_export_include_directories-extras.cmake" "DESTINATION" "share/nav2_rrtstar_planner/cmake")
# install(FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_export_libraries/ament_cmake_export_libraries-extras.cmake" "DESTINATION" "share/nav2_rrtstar_planner/cmake")
ament_cmake_symlink_install_files("/workspace/src/TurtleBot-RRT-Star" FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_export_libraries/ament_cmake_export_libraries-extras.cmake" "DESTINATION" "share/nav2_rrtstar_planner/cmake")
# install(FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_export_dependencies/ament_cmake_export_dependencies-extras.cmake" "DESTINATION" "share/nav2_rrtstar_planner/cmake")
ament_cmake_symlink_install_files("/workspace/src/TurtleBot-RRT-Star" FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_export_dependencies/ament_cmake_export_dependencies-extras.cmake" "DESTINATION" "share/nav2_rrtstar_planner/cmake")
# install(FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_core/nav2_rrtstar_plannerConfig.cmake" "/workspace/build/nav2_rrtstar_planner/ament_cmake_core/nav2_rrtstar_plannerConfig-version.cmake" "DESTINATION" "share/nav2_rrtstar_planner/cmake")
ament_cmake_symlink_install_files("/workspace/src/TurtleBot-RRT-Star" FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_core/nav2_rrtstar_plannerConfig.cmake" "/workspace/build/nav2_rrtstar_planner/ament_cmake_core/nav2_rrtstar_plannerConfig-version.cmake" "DESTINATION" "share/nav2_rrtstar_planner/cmake")
# install(FILES "/workspace/src/TurtleBot-RRT-Star/package.xml" "DESTINATION" "share/nav2_rrtstar_planner")
ament_cmake_symlink_install_files("/workspace/src/TurtleBot-RRT-Star" FILES "/workspace/src/TurtleBot-RRT-Star/package.xml" "DESTINATION" "share/nav2_rrtstar_planner")

23
build/nav2_rrtstar_planner/ament_cmake_symlink_install/ament_cmake_symlink_install_uninstall_script.cmake
View File

@ -1,23 +0,0 @@
# generated from
# ament_cmake_core/cmake/symlink_install/ament_cmake_symlink_install_uninstall_script.cmake.in
set(install_manifest "/workspace/build/nav2_rrtstar_planner/symlink_install_manifest.txt")
if(NOT EXISTS "${install_manifest}")
message(FATAL_ERROR "Cannot find symlink 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()

1
build/nav2_rrtstar_planner/ament_cmake_symlink_install_targets_0_.cmake
View File

@ -1 +0,0 @@
ament_cmake_symlink_install_targets("TARGET_FILES" "/workspace/build/nav2_rrtstar_planner/libnav2_rrtstar_planner_plugin.so" "TARGETS" "nav2_rrtstar_planner_plugin" "ARCHIVE_DESTINATION" "lib" "LIBRARY_DESTINATION" "lib" "RUNTIME_DESTINATION" "lib/nav2_rrtstar_planner")

3
build/nav2_rrtstar_planner/ament_cmake_uninstall_target/ament_cmake_uninstall_target.cmake
View File

@ -55,6 +55,3 @@ endforeach()
message(STATUS "Execute custom uninstall script")
# begin of custom uninstall code
# uninstall files installed using the symlink install functions
include("/workspace/build/nav2_rrtstar_planner/ament_cmake_symlink_install/ament_cmake_symlink_install_uninstall_script.cmake")

2
build/nav2_rrtstar_planner/cmake_args.last
View File

@ -1 +1 @@
['-DAMENT_CMAKE_SYMLINK_INSTALL=1']
None

120
build/nav2_rrtstar_planner/cmake_install.cmake
View File

@ -43,7 +43,125 @@ if(NOT DEFINED CMAKE_OBJDUMP)
endif()
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
include("/workspace/build/nav2_rrtstar_planner/ament_cmake_symlink_install/ament_cmake_symlink_install.cmake")
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/nav2_rrtstar_planner" TYPE FILE FILES "/workspace/src/TurtleBot-RRT-Star/global_planner_plugin.xml")
endif()
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libnav2_rrtstar_planner_plugin.so" AND
NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libnav2_rrtstar_planner_plugin.so")
file(RPATH_CHECK
FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libnav2_rrtstar_planner_plugin.so"
RPATH "")
endif()
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib" TYPE SHARED_LIBRARY FILES "/workspace/build/nav2_rrtstar_planner/libnav2_rrtstar_planner_plugin.so")
if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libnav2_rrtstar_planner_plugin.so" AND
NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libnav2_rrtstar_planner_plugin.so")
file(RPATH_CHANGE
FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libnav2_rrtstar_planner_plugin.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_rrtstar_planner_plugin.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)
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/include/" TYPE DIRECTORY FILES "/workspace/src/TurtleBot-RRT-Star/include/")
endif()
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/nav2_rrtstar_planner" TYPE FILE FILES "/workspace/src/TurtleBot-RRT-Star/global_planner_plugin.xml")
endif()
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/nav2_rrtstar_planner/launch" TYPE DIRECTORY FILES "/workspace/src/TurtleBot-RRT-Star/launch/")
endif()
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/nav2_rrtstar_planner/environment" TYPE FILE FILES "/opt/ros/humble/lib/python3.10/site-packages/ament_package/template/environment_hook/library_path.sh")
endif()
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/nav2_rrtstar_planner/environment" TYPE FILE FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/library_path.dsv")
endif()
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/ament_index/resource_index/package_run_dependencies" TYPE FILE FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/nav2_rrtstar_planner")
endif()
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/ament_index/resource_index/parent_prefix_path" TYPE FILE FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/nav2_rrtstar_planner")
endif()
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/nav2_rrtstar_planner/environment" TYPE FILE FILES "/opt/ros/humble/share/ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh")
endif()
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/nav2_rrtstar_planner/environment" TYPE FILE FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/ament_prefix_path.dsv")
endif()
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/nav2_rrtstar_planner/environment" TYPE FILE FILES "/opt/ros/humble/share/ament_cmake_core/cmake/environment_hooks/environment/path.sh")
endif()
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/nav2_rrtstar_planner/environment" TYPE FILE FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/path.dsv")
endif()
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/nav2_rrtstar_planner" TYPE FILE FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/local_setup.bash")
endif()
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/nav2_rrtstar_planner" TYPE FILE FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/local_setup.sh")
endif()
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/nav2_rrtstar_planner" TYPE FILE FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/local_setup.zsh")
endif()
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/nav2_rrtstar_planner" TYPE FILE FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/local_setup.dsv")
endif()
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/nav2_rrtstar_planner" TYPE FILE FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_environment_hooks/package.dsv")
endif()
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/ament_index/resource_index/packages" TYPE FILE FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_index/share/ament_index/resource_index/packages/nav2_rrtstar_planner")
endif()
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/ament_index/resource_index/nav2_core__pluginlib__plugin" TYPE FILE FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_index/share/ament_index/resource_index/nav2_core__pluginlib__plugin/nav2_rrtstar_planner")
endif()
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/nav2_rrtstar_planner/cmake" TYPE FILE FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_export_include_directories/ament_cmake_export_include_directories-extras.cmake")
endif()
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/nav2_rrtstar_planner/cmake" TYPE FILE FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_export_libraries/ament_cmake_export_libraries-extras.cmake")
endif()
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/nav2_rrtstar_planner/cmake" TYPE FILE FILES "/workspace/build/nav2_rrtstar_planner/ament_cmake_export_dependencies/ament_cmake_export_dependencies-extras.cmake")
endif()
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/nav2_rrtstar_planner/cmake" TYPE FILE FILES
"/workspace/build/nav2_rrtstar_planner/ament_cmake_core/nav2_rrtstar_plannerConfig.cmake"
"/workspace/build/nav2_rrtstar_planner/ament_cmake_core/nav2_rrtstar_plannerConfig-version.cmake"
)
endif()
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/nav2_rrtstar_planner" TYPE FILE FILES "/workspace/src/TurtleBot-RRT-Star/package.xml")
endif()
if(CMAKE_INSTALL_COMPONENT)

34
build/nav2_rrtstar_planner/colcon_command_prefix_build.sh.env
View File

@ -1,6 +1,8 @@
AMENT_PREFIX_PATH=/opt/ros/humble
AMENT_PREFIX_PATH=/workspace/install/vlm_perception_pkg:/workspace/install/vlm_nav_pkg:/workspace/install/turtlebot3_simulations:/workspace/install/turtlebot3_gazebo:/workspace/install/nav2_rrtstar_planner:/opt/ros/humble
CMAKE_PREFIX_PATH=/workspace/install/turtlebot3_simulations:/workspace/install/turtlebot3_gazebo:/workspace/install/nav2_rrtstar_planner
CODE_NO_PASSWORD=true
COLCON=1
COLCON_PREFIX_PATH=/workspace/install
DATA_PATH=/home/user/data
DATA_PATH_V2=/data
DESKTOP_MODE=auto
@ -8,7 +10,7 @@ DISPLAY=:1
DISPLAY_BACKEND=auto
ENABLE_CODE_SERVER=true
ENABLE_FILEBROWSER=false
ENABLE_FOXGLOVE=true
ENABLE_FOXGLOVE=false
ENABLE_GZWEB=true
ENABLE_ROSBRIDGE=true
ENABLE_TERMINAL=true
@ -16,25 +18,35 @@ ENABLE_VNC=true
FILEBROWSER_BASEURL=/file
GZWEB_APP_DIR=/opt/gzweb
GZWEB_PORT=8000
GZ_SIM_CACHE_PATH=/opt/gzsim/cache
GZ_SIM_RESOURCE_PATH=/workspace/models:/opt/gzsim/models:/workspace/models:/opt/gzsim/models:/workspace/models:/opt/gzsim/models:/usr/share/gz/gz-sim7/models
GZ_SIM_CACHE_PATH=/.gz/sim/cache
GZ_SIM_RESOURCE_PATH=/models:/workspace/models:/opt/gzsim/models:/models:/workspace/models:/opt/gzsim/models:/models:/workspace/models:/opt/gzsim/models:/usr/share/gz/gz-sim7/models
HOME=/home/devuser
INIT_SCRIPT=sed -i "/# pms-vendor-pythonpath/d;/export PYTHONPATH=\"/opt\/vendor\/python/d" /home/${USER:-devuser}/.bashrc 2>/dev/null || true
CONDA_ACTIVATE_D="${CONDA_PREFIX:-/opt/miniconda/envs/pms-py312}/etc/conda/activate.d"
if [ -d "$CONDA_ACTIVATE_D" ]; then
cat > "$CONDA_ACTIVATE_D/pms-vendor-pythonpath.sh" << 'PYEOF'
export PYTHONPATH="/opt/vendor/python:/opt/vendor/mjlab/src:/opt/vendor/mujoco_warp:/opt/vendor/demos/humanoid_skateboarding/src:$PYTHONPATH"
PYEOF
chmod +x "$CONDA_ACTIVATE_D/pms-vendor-pythonpath.sh"
fi
echo "# pms-vendor-pythonpath" >> /home/${USER:-devuser}/.bashrc
echo "export PYTHONPATH=\"/opt/vendor/python:/opt/vendor/mjlab/src:/opt/vendor/mujoco_warp:/opt/vendor/demos/humanoid_skateboarding/src:\$PYTHONPATH\"" >> /home/${USER:-devuser}/.bashrc
/workspace/autorun.sh
INIT_WORKSPACE=/workspace
LAUNCH_TYPE=EC2
LC_CTYPE=C.UTF-8
LD_LIBRARY_PATH=/usr/local/cuda/lib64:/usr/local/cuda/lib64:/usr/local/cuda/lib64:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib
LD_LIBRARY_PATH=/workspace/install/nav2_rrtstar_planner/lib:/usr/local/cuda/lib64:/usr/local/cuda/lib64:/usr/local/cuda/lib64:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib
LOGNAME=devuser
MAIL=/var/mail/devuser
OLDPWD=/workspace
PATH=/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/opt/ros/humble/bin:/usr/local/cuda/bin:/opt/TurboVNC/bin:/opt/node/bin:/opt/foundation/bin:/home/devuser/miniconda3/bin:/home/devuser/.local/bin
PATH=/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/opt/ros/humble/bin:/usr/local/cuda/bin:/opt/TurboVNC/bin:/opt/node/bin:/opt/foundation/bin
PMS_FOUNDATION_VARIANT=gpu
PMS_VNC_MODE=turbovnc
PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$
PWD=/workspace/build/nav2_rrtstar_planner
PYTHONPATH=/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages
PYTHONNOUSERSITE=1
PYTHONPATH=/workspace/install/vlm_perception_pkg/lib/python3.10/site-packages:/workspace/install/vlm_nav_pkg/lib/python3.10/site-packages:/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages
ROS_DISTRO=humble
ROS_DOMAIN_ID=42
ROS_LOCALHOST_ONLY=0
@ -44,11 +56,11 @@ SHELL=/bin/bash
SHLVL=1
SINGLE_DESKTOP_APP=
SINGLE_DESKTOP_PRESET=
SPACE_DIR=/home/user/data/309844d858e5487f9c582ea361481b3d
SPACE_DIR_V2=/data/309844d858e5487f9c582ea361481b3d
SPACE_ID=309844d858e5487f9c582ea361481b3d
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"/opt/ros/humble/share/ament_cmake_core/cmake/index/ament_index_register_package.cmake"
"/opt/ros/humble/share/ament_cmake_core/cmake/index/ament_index_register_resource.cmake"
"/opt/ros/humble/share/ament_cmake_core/cmake/package_templates/templates_2_cmake.py"
"/opt/ros/humble/share/ament_cmake_core/cmake/symlink_install/ament_cmake_symlink_install.cmake.in"
"/opt/ros/humble/share/ament_cmake_core/cmake/symlink_install/ament_cmake_symlink_install_append_install_code.cmake"
"/opt/ros/humble/share/ament_cmake_core/cmake/symlink_install/ament_cmake_symlink_install_directory.cmake"
"/opt/ros/humble/share/ament_cmake_core/cmake/symlink_install/ament_cmake_symlink_install_files.cmake"
"/opt/ros/humble/share/ament_cmake_core/cmake/symlink_install/ament_cmake_symlink_install_programs.cmake"
"/opt/ros/humble/share/ament_cmake_core/cmake/symlink_install/ament_cmake_symlink_install_targets.cmake"
"/opt/ros/humble/share/ament_cmake_core/cmake/symlink_install/ament_cmake_symlink_install_uninstall_script.cmake.in"
"/opt/ros/humble/share/ament_cmake_core/cmake/symlink_install/install.cmake"
"/opt/ros/humble/share/ament_cmake_core/cmake/uninstall_target/ament_cmake_uninstall_target.cmake.in"
"/opt/ros/humble/share/ament_cmake_core/cmake/uninstall_target/ament_cmake_uninstall_target_append_uninstall_code.cmake"
"/opt/ros/humble/share/ament_cmake_export_definitions/cmake/ament_cmake_export_definitions-extras.cmake"
@ -1281,8 +1273,6 @@ set(CMAKE_MAKEFILE_PRODUCTS
"CMakeFiles/3.22.1/CMakeCXXCompiler.cmake"
"ament_cmake_core/stamps/templates_2_cmake.py.stamp"
"ament_cmake_uninstall_target/ament_cmake_uninstall_target.cmake"
"ament_cmake_symlink_install/ament_cmake_symlink_install.cmake"
"ament_cmake_symlink_install/ament_cmake_symlink_install_uninstall_script.cmake"
"CTestConfiguration.ini"
"ament_cmake_core/stamps/package.xml.stamp"
"ament_cmake_core/stamps/package_xml_2_cmake.py.stamp"
@ -1299,7 +1289,6 @@ set(CMAKE_MAKEFILE_PRODUCTS
"ament_cmake_core/turtlebot3_gazeboConfig.cmake"
"ament_cmake_core/stamps/nameConfig-version.cmake.in.stamp"
"ament_cmake_core/turtlebot3_gazeboConfig-version.cmake"
"ament_cmake_symlink_install_targets_0_.cmake"
"ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/turtlebot3_gazebo"
"ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/turtlebot3_gazebo"
"ament_cmake_index/share/ament_index/resource_index/packages/turtlebot3_gazebo"

2
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2
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@ -11,7 +11,7 @@ BuildDirectory: /workspace/build/turtlebot3_gazebo
CostDataFile:
# Site is something like machine.domain, i.e. pragmatic.crd
Site: pms-space-6950f1ca-1599-42c5-a926-29eb731cb95c-3b8732
Site: ip-172-31-70-30.cn-northwest-1.compute.internal
# Build name is osname-revision-compiler, i.e. Linux-2.4.2-2smp-c++
BuildName:

2
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@ -1 +1 @@
/opt/ros/humble
/workspace/install/vlm_perception_pkg:/workspace/install/vlm_nav_pkg:/workspace/install/turtlebot3_simulations:/workspace/install/turtlebot3_gazebo:/workspace/install/nav2_rrtstar_planner:/opt/ros/humble

376
build/turtlebot3_gazebo/ament_cmake_symlink_install/ament_cmake_symlink_install.cmake
View File

@ -1,376 +0,0 @@
# generated from
# ament_cmake_core/cmake/symlink_install/ament_cmake_symlink_install.cmake.in
# create empty symlink install manifest before starting install step
file(WRITE "${CMAKE_CURRENT_BINARY_DIR}/symlink_install_manifest.txt")
#
# Reimplement CMake install(DIRECTORY) command to use symlinks instead of
# copying resources.
#
# :param cmake_current_source_dir: The CMAKE_CURRENT_SOURCE_DIR when install
# was invoked
# :type cmake_current_source_dir: string
# :param ARGN: the same arguments as the CMake install command.
# :type ARGN: various
#
function(ament_cmake_symlink_install_directory cmake_current_source_dir)
cmake_parse_arguments(ARG "OPTIONAL" "DESTINATION" "DIRECTORY;PATTERN;PATTERN_EXCLUDE" ${ARGN})
if(ARG_UNPARSED_ARGUMENTS)
message(FATAL_ERROR "ament_cmake_symlink_install_directory() called with "
"unused/unsupported arguments: ${ARG_UNPARSED_ARGUMENTS}")
endif()
# make destination absolute path and ensure that it exists
if(NOT IS_ABSOLUTE "${ARG_DESTINATION}")
set(ARG_DESTINATION "/workspace/install/turtlebot3_gazebo/${ARG_DESTINATION}")
endif()
if(NOT EXISTS "${ARG_DESTINATION}")
file(MAKE_DIRECTORY "${ARG_DESTINATION}")
endif()
# default pattern to include
if(NOT ARG_PATTERN)
set(ARG_PATTERN "*")
endif()
# iterate over directories
foreach(dir ${ARG_DIRECTORY})
# make dir an absolute path
if(NOT IS_ABSOLUTE "${dir}")
set(dir "${cmake_current_source_dir}/${dir}")
endif()
if(EXISTS "${dir}")
# if directory has no trailing slash
# append folder name to destination
set(destination "${ARG_DESTINATION}")
string(LENGTH "${dir}" length)
math(EXPR offset "${length} - 1")
string(SUBSTRING "${dir}" ${offset} 1 dir_last_char)
if(NOT dir_last_char STREQUAL "/")
get_filename_component(destination_name "${dir}" NAME)
set(destination "${destination}/${destination_name}")
else()
# remove trailing slash
string(SUBSTRING "${dir}" 0 ${offset} dir)
endif()
# Create destination directory.
# This does *not* solve the problem of empty directories WITHIN the install tree,
# but does make sure that the top-level directory specified by the caller gets created.
file(MAKE_DIRECTORY "${destination}")
# glob recursive files
set(relative_files "")
foreach(pattern ${ARG_PATTERN})
file(
GLOB_RECURSE
include_files
RELATIVE "${dir}"
"${dir}/${pattern}"
)
if(NOT include_files STREQUAL "")
list(APPEND relative_files ${include_files})
endif()
endforeach()
foreach(pattern ${ARG_PATTERN_EXCLUDE})
file(
GLOB_RECURSE
exclude_files
RELATIVE "${dir}"
"${dir}/${pattern}"
)
if(NOT exclude_files STREQUAL "")
list(REMOVE_ITEM relative_files ${exclude_files})
endif()
endforeach()
list(SORT relative_files)
foreach(relative_file ${relative_files})
set(absolute_file "${dir}/${relative_file}")
# determine link name for file including destination path
set(symlink "${destination}/${relative_file}")
# ensure that destination exists
get_filename_component(symlink_dir "${symlink}" PATH)
if(NOT EXISTS "${symlink_dir}")
file(MAKE_DIRECTORY "${symlink_dir}")
endif()
_ament_cmake_symlink_install_create_symlink("${absolute_file}" "${symlink}")
endforeach()
else()
if(NOT ARG_OPTIONAL)
message(FATAL_ERROR
"ament_cmake_symlink_install_directory() can't find '${dir}'")
endif()
endif()
endforeach()
endfunction()
#
# Reimplement CMake install(FILES) command to use symlinks instead of copying
# resources.
#
# :param cmake_current_source_dir: The CMAKE_CURRENT_SOURCE_DIR when install
# was invoked
# :type cmake_current_source_dir: string
# :param ARGN: the same arguments as the CMake install command.
# :type ARGN: various
#
function(ament_cmake_symlink_install_files cmake_current_source_dir)
cmake_parse_arguments(ARG "OPTIONAL" "DESTINATION;RENAME" "FILES" ${ARGN})
if(ARG_UNPARSED_ARGUMENTS)
message(FATAL_ERROR "ament_cmake_symlink_install_files() called with "
"unused/unsupported arguments: ${ARG_UNPARSED_ARGUMENTS}")
endif()
# make destination an absolute path and ensure that it exists
if(NOT IS_ABSOLUTE "${ARG_DESTINATION}")
set(ARG_DESTINATION "/workspace/install/turtlebot3_gazebo/${ARG_DESTINATION}")
endif()
if(NOT EXISTS "${ARG_DESTINATION}")
file(MAKE_DIRECTORY "${ARG_DESTINATION}")
endif()
if(ARG_RENAME)
list(LENGTH ARG_FILES file_count)
if(NOT file_count EQUAL 1)
message(FATAL_ERROR "ament_cmake_symlink_install_files() called with "
"RENAME argument but not with a single file")
endif()
endif()
# iterate over files
foreach(file ${ARG_FILES})
# make file an absolute path
if(NOT IS_ABSOLUTE "${file}")
set(file "${cmake_current_source_dir}/${file}")
endif()
if(EXISTS "${file}")
# determine link name for file including destination path
get_filename_component(filename "${file}" NAME)
if(NOT ARG_RENAME)
set(symlink "${ARG_DESTINATION}/${filename}")
else()
set(symlink "${ARG_DESTINATION}/${ARG_RENAME}")
endif()
_ament_cmake_symlink_install_create_symlink("${file}" "${symlink}")
else()
if(NOT ARG_OPTIONAL)
message(FATAL_ERROR
"ament_cmake_symlink_install_files() can't find '${file}'")
endif()
endif()
endforeach()
endfunction()
#
# Reimplement CMake install(PROGRAMS) command to use symlinks instead of copying
# resources.
#
# :param cmake_current_source_dir: The CMAKE_CURRENT_SOURCE_DIR when install
# was invoked
# :type cmake_current_source_dir: string
# :param ARGN: the same arguments as the CMake install command.
# :type ARGN: various
#
function(ament_cmake_symlink_install_programs cmake_current_source_dir)
cmake_parse_arguments(ARG "OPTIONAL" "DESTINATION" "PROGRAMS" ${ARGN})
if(ARG_UNPARSED_ARGUMENTS)
message(FATAL_ERROR "ament_cmake_symlink_install_programs() called with "
"unused/unsupported arguments: ${ARG_UNPARSED_ARGUMENTS}")
endif()
# make destination an absolute path and ensure that it exists
if(NOT IS_ABSOLUTE "${ARG_DESTINATION}")
set(ARG_DESTINATION "/workspace/install/turtlebot3_gazebo/${ARG_DESTINATION}")
endif()
if(NOT EXISTS "${ARG_DESTINATION}")
file(MAKE_DIRECTORY "${ARG_DESTINATION}")
endif()
# iterate over programs
foreach(file ${ARG_PROGRAMS})
# make file an absolute path
if(NOT IS_ABSOLUTE "${file}")
set(file "${cmake_current_source_dir}/${file}")
endif()
if(EXISTS "${file}")
# determine link name for file including destination path
get_filename_component(filename "${file}" NAME)
set(symlink "${ARG_DESTINATION}/${filename}")
_ament_cmake_symlink_install_create_symlink("${file}" "${symlink}")
else()
if(NOT ARG_OPTIONAL)
message(FATAL_ERROR
"ament_cmake_symlink_install_programs() can't find '${file}'")
endif()
endif()
endforeach()
endfunction()
#
# Reimplement CMake install(TARGETS) command to use symlinks instead of copying
# resources.
#
# :param TARGET_FILES: the absolute files, replacing the name of targets passed
# in as TARGETS
# :type TARGET_FILES: list of files
# :param ARGN: the same arguments as the CMake install command except that
# keywords identifying the kind of type and the DESTINATION keyword must be
# joined with an underscore, e.g. ARCHIVE_DESTINATION.
# :type ARGN: various
#
function(ament_cmake_symlink_install_targets)
cmake_parse_arguments(ARG "OPTIONAL" "ARCHIVE_DESTINATION;DESTINATION;LIBRARY_DESTINATION;RUNTIME_DESTINATION"
"TARGETS;TARGET_FILES" ${ARGN})
if(ARG_UNPARSED_ARGUMENTS)
message(FATAL_ERROR "ament_cmake_symlink_install_targets() called with "
"unused/unsupported arguments: ${ARG_UNPARSED_ARGUMENTS}")
endif()
# iterate over target files
foreach(file ${ARG_TARGET_FILES})
if(NOT IS_ABSOLUTE "${file}")
message(FATAL_ERROR "ament_cmake_symlink_install_targets() target file "
"'${file}' must be an absolute path")
endif()
# determine destination of file based on extension
set(destination "")
get_filename_component(fileext "${file}" EXT)
if(fileext STREQUAL ".a" OR fileext STREQUAL ".lib")
set(destination "${ARG_ARCHIVE_DESTINATION}")
elseif(fileext STREQUAL ".dylib" OR fileext MATCHES "\\.so(\\.[0-9]+)?(\\.[0-9]+)?(\\.[0-9]+)?$")
set(destination "${ARG_LIBRARY_DESTINATION}")
elseif(fileext STREQUAL "" OR fileext STREQUAL ".dll" OR fileext STREQUAL ".exe")
set(destination "${ARG_RUNTIME_DESTINATION}")
endif()
if(destination STREQUAL "")
set(destination "${ARG_DESTINATION}")
endif()
# make destination an absolute path and ensure that it exists
if(NOT IS_ABSOLUTE "${destination}")
set(destination "/workspace/install/turtlebot3_gazebo/${destination}")
endif()
if(NOT EXISTS "${destination}")
file(MAKE_DIRECTORY "${destination}")
endif()
if(EXISTS "${file}")
# determine link name for file including destination path
get_filename_component(filename "${file}" NAME)
set(symlink "${destination}/${filename}")
_ament_cmake_symlink_install_create_symlink("${file}" "${symlink}")
else()
if(NOT ARG_OPTIONAL)
message(FATAL_ERROR
"ament_cmake_symlink_install_targets() can't find '${file}'")
endif()
endif()
endforeach()
endfunction()
function(_ament_cmake_symlink_install_create_symlink absolute_file symlink)
# register symlink for being removed during install step
file(APPEND "${CMAKE_CURRENT_BINARY_DIR}/symlink_install_manifest.txt"
"${symlink}\n")
# avoid any work if correct symlink is already in place
if(EXISTS "${symlink}" AND IS_SYMLINK "${symlink}")
get_filename_component(destination "${symlink}" REALPATH)
get_filename_component(real_absolute_file "${absolute_file}" REALPATH)
if(destination STREQUAL real_absolute_file)
message(STATUS "Up-to-date symlink: ${symlink}")
return()
endif()
endif()
message(STATUS "Symlinking: ${symlink}")
if(EXISTS "${symlink}" OR IS_SYMLINK "${symlink}")
file(REMOVE "${symlink}")
endif()
execute_process(
COMMAND "/usr/bin/cmake" "-E" "create_symlink"
"${absolute_file}"
"${symlink}"
)
# the CMake command does not provide a return code so check manually
if(NOT EXISTS "${symlink}" OR NOT IS_SYMLINK "${symlink}")
get_filename_component(destination "${symlink}" REALPATH)
message(FATAL_ERROR
"Could not create symlink '${symlink}' pointing to '${absolute_file}'")
endif()
endfunction()
# end of template
message(STATUS "Execute custom install script")
# begin of custom install code
# install("TARGETS" "turtlebot3_drive" "DESTINATION" "lib/turtlebot3_gazebo")
include("/workspace/build/turtlebot3_gazebo/ament_cmake_symlink_install_targets_0_${CMAKE_INSTALL_CONFIG_NAME}.cmake")
# install(DIRECTORY "launch" "config" "models" "rviz" "urdf" "worlds" "scripts" "gui" "DESTINATION" "share/turtlebot3_gazebo/")
ament_cmake_symlink_install_directory("/workspace/src/turtlebot3_simulations/turtlebot3_gazebo" DIRECTORY "launch" "config" "models" "rviz" "urdf" "worlds" "scripts" "gui" "DESTINATION" "share/turtlebot3_gazebo/")
# install(PROGRAMS "scripts/scan_frame_fix.py" "scripts/camera_topic_remap.py" "DESTINATION" "lib/turtlebot3_gazebo")
ament_cmake_symlink_install_programs("/workspace/src/turtlebot3_simulations/turtlebot3_gazebo" PROGRAMS "scripts/scan_frame_fix.py" "scripts/camera_topic_remap.py" "DESTINATION" "lib/turtlebot3_gazebo")
# install(DIRECTORY "include/" "DESTINATION" "include/")
ament_cmake_symlink_install_directory("/workspace/src/turtlebot3_simulations/turtlebot3_gazebo" DIRECTORY "include/" "DESTINATION" "include/")
# install(FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/turtlebot3_gazebo" "DESTINATION" "share/ament_index/resource_index/package_run_dependencies")
ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_gazebo" FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/turtlebot3_gazebo" "DESTINATION" "share/ament_index/resource_index/package_run_dependencies")
# install(FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/turtlebot3_gazebo" "DESTINATION" "share/ament_index/resource_index/parent_prefix_path")
ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_gazebo" FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/turtlebot3_gazebo" "DESTINATION" "share/ament_index/resource_index/parent_prefix_path")
# install(FILES "/opt/ros/humble/share/ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh" "DESTINATION" "share/turtlebot3_gazebo/environment")
ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_gazebo" FILES "/opt/ros/humble/share/ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh" "DESTINATION" "share/turtlebot3_gazebo/environment")
# install(FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_environment_hooks/ament_prefix_path.dsv" "DESTINATION" "share/turtlebot3_gazebo/environment")
ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_gazebo" FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_environment_hooks/ament_prefix_path.dsv" "DESTINATION" "share/turtlebot3_gazebo/environment")
# install(FILES "/opt/ros/humble/share/ament_cmake_core/cmake/environment_hooks/environment/path.sh" "DESTINATION" "share/turtlebot3_gazebo/environment")
ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_gazebo" FILES "/opt/ros/humble/share/ament_cmake_core/cmake/environment_hooks/environment/path.sh" "DESTINATION" "share/turtlebot3_gazebo/environment")
# install(FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_environment_hooks/path.dsv" "DESTINATION" "share/turtlebot3_gazebo/environment")
ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_gazebo" FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_environment_hooks/path.dsv" "DESTINATION" "share/turtlebot3_gazebo/environment")
# install(FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_environment_hooks/local_setup.bash" "DESTINATION" "share/turtlebot3_gazebo")
ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_gazebo" FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_environment_hooks/local_setup.bash" "DESTINATION" "share/turtlebot3_gazebo")
# install(FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_environment_hooks/local_setup.sh" "DESTINATION" "share/turtlebot3_gazebo")
ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_gazebo" FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_environment_hooks/local_setup.sh" "DESTINATION" "share/turtlebot3_gazebo")
# install(FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_environment_hooks/local_setup.zsh" "DESTINATION" "share/turtlebot3_gazebo")
ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_gazebo" FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_environment_hooks/local_setup.zsh" "DESTINATION" "share/turtlebot3_gazebo")
# install(FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_environment_hooks/local_setup.dsv" "DESTINATION" "share/turtlebot3_gazebo")
ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_gazebo" FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_environment_hooks/local_setup.dsv" "DESTINATION" "share/turtlebot3_gazebo")
# install(FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_environment_hooks/package.dsv" "DESTINATION" "share/turtlebot3_gazebo")
ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_gazebo" FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_environment_hooks/package.dsv" "DESTINATION" "share/turtlebot3_gazebo")
# install(FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_index/share/ament_index/resource_index/packages/turtlebot3_gazebo" "DESTINATION" "share/ament_index/resource_index/packages")
ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_gazebo" FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_index/share/ament_index/resource_index/packages/turtlebot3_gazebo" "DESTINATION" "share/ament_index/resource_index/packages")
# install(FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_export_include_directories/ament_cmake_export_include_directories-extras.cmake" "DESTINATION" "share/turtlebot3_gazebo/cmake")
ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_gazebo" FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_export_include_directories/ament_cmake_export_include_directories-extras.cmake" "DESTINATION" "share/turtlebot3_gazebo/cmake")
# install(FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_export_dependencies/ament_cmake_export_dependencies-extras.cmake" "DESTINATION" "share/turtlebot3_gazebo/cmake")
ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_gazebo" FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_export_dependencies/ament_cmake_export_dependencies-extras.cmake" "DESTINATION" "share/turtlebot3_gazebo/cmake")
# install(FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_core/turtlebot3_gazeboConfig.cmake" "/workspace/build/turtlebot3_gazebo/ament_cmake_core/turtlebot3_gazeboConfig-version.cmake" "DESTINATION" "share/turtlebot3_gazebo/cmake")
ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_gazebo" FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_core/turtlebot3_gazeboConfig.cmake" "/workspace/build/turtlebot3_gazebo/ament_cmake_core/turtlebot3_gazeboConfig-version.cmake" "DESTINATION" "share/turtlebot3_gazebo/cmake")
# install(FILES "/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/package.xml" "DESTINATION" "share/turtlebot3_gazebo")
ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_gazebo" FILES "/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/package.xml" "DESTINATION" "share/turtlebot3_gazebo")

23
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View File

@ -1,23 +0,0 @@
# generated from
# ament_cmake_core/cmake/symlink_install/ament_cmake_symlink_install_uninstall_script.cmake.in
set(install_manifest "/workspace/build/turtlebot3_gazebo/symlink_install_manifest.txt")
if(NOT EXISTS "${install_manifest}")
message(FATAL_ERROR "Cannot find symlink 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()

1
build/turtlebot3_gazebo/ament_cmake_symlink_install_targets_0_.cmake
View File

@ -1 +0,0 @@
ament_cmake_symlink_install_targets("TARGET_FILES" "/workspace/build/turtlebot3_gazebo/turtlebot3_drive" "TARGETS" "turtlebot3_drive" "DESTINATION" "lib/turtlebot3_gazebo")

3
build/turtlebot3_gazebo/ament_cmake_uninstall_target/ament_cmake_uninstall_target.cmake
View File

@ -55,6 +55,3 @@ endforeach()
message(STATUS "Execute custom uninstall script")
# begin of custom uninstall code
# uninstall files installed using the symlink install functions
include("/workspace/build/turtlebot3_gazebo/ament_cmake_symlink_install/ament_cmake_symlink_install_uninstall_script.cmake")

2
build/turtlebot3_gazebo/cmake_args.last
View File

@ -1 +1 @@
['-DAMENT_CMAKE_SYMLINK_INSTALL=1']
None

110
build/turtlebot3_gazebo/cmake_install.cmake
View File

@ -43,7 +43,115 @@ if(NOT DEFINED CMAKE_OBJDUMP)
endif()
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
include("/workspace/build/turtlebot3_gazebo/ament_cmake_symlink_install/ament_cmake_symlink_install.cmake")
if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/turtlebot3_gazebo/turtlebot3_drive" AND
NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/turtlebot3_gazebo/turtlebot3_drive")
file(RPATH_CHECK
FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/turtlebot3_gazebo/turtlebot3_drive"
RPATH "")
endif()
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/turtlebot3_gazebo" TYPE EXECUTABLE FILES "/workspace/build/turtlebot3_gazebo/turtlebot3_drive")
if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/turtlebot3_gazebo/turtlebot3_drive" AND
NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/turtlebot3_gazebo/turtlebot3_drive")
file(RPATH_CHANGE
FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/turtlebot3_gazebo/turtlebot3_drive"
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/turtlebot3_gazebo/turtlebot3_drive")
endif()
endif()
endif()
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/turtlebot3_gazebo/" TYPE DIRECTORY FILES
"/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/launch"
"/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/config"
"/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/models"
"/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/rviz"
"/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/urdf"
"/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/worlds"
"/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/scripts"
"/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/gui"
)
endif()
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/turtlebot3_gazebo" TYPE PROGRAM FILES
"/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/scripts/scan_frame_fix.py"
"/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/scripts/camera_topic_remap.py"
"/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/scripts/depth_to_pointcloud.py"
)
endif()
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/include/" TYPE DIRECTORY FILES "/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/include/")
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 "/workspace/build/turtlebot3_gazebo/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/turtlebot3_gazebo")
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 "/workspace/build/turtlebot3_gazebo/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/turtlebot3_gazebo")
endif()
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/turtlebot3_gazebo/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/turtlebot3_gazebo/environment" TYPE FILE FILES "/workspace/build/turtlebot3_gazebo/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/turtlebot3_gazebo/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/turtlebot3_gazebo/environment" TYPE FILE FILES "/workspace/build/turtlebot3_gazebo/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/turtlebot3_gazebo" TYPE FILE FILES "/workspace/build/turtlebot3_gazebo/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/turtlebot3_gazebo" TYPE FILE FILES "/workspace/build/turtlebot3_gazebo/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/turtlebot3_gazebo" TYPE FILE FILES "/workspace/build/turtlebot3_gazebo/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/turtlebot3_gazebo" TYPE FILE FILES "/workspace/build/turtlebot3_gazebo/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/turtlebot3_gazebo" TYPE FILE FILES "/workspace/build/turtlebot3_gazebo/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 "/workspace/build/turtlebot3_gazebo/ament_cmake_index/share/ament_index/resource_index/packages/turtlebot3_gazebo")
endif()
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/turtlebot3_gazebo/cmake" TYPE FILE FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_export_include_directories/ament_cmake_export_include_directories-extras.cmake")
endif()
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/turtlebot3_gazebo/cmake" TYPE FILE FILES "/workspace/build/turtlebot3_gazebo/ament_cmake_export_dependencies/ament_cmake_export_dependencies-extras.cmake")
endif()
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/turtlebot3_gazebo/cmake" TYPE FILE FILES
"/workspace/build/turtlebot3_gazebo/ament_cmake_core/turtlebot3_gazeboConfig.cmake"
"/workspace/build/turtlebot3_gazebo/ament_cmake_core/turtlebot3_gazeboConfig-version.cmake"
)
endif()
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/turtlebot3_gazebo" TYPE FILE FILES "/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/package.xml")
endif()
if(CMAKE_INSTALL_COMPONENT)

34
build/turtlebot3_gazebo/colcon_command_prefix_build.sh.env
View File

@ -1,6 +1,8 @@
AMENT_PREFIX_PATH=/opt/ros/humble
AMENT_PREFIX_PATH=/workspace/install/vlm_perception_pkg:/workspace/install/vlm_nav_pkg:/workspace/install/turtlebot3_simulations:/workspace/install/turtlebot3_gazebo:/workspace/install/nav2_rrtstar_planner:/opt/ros/humble
CMAKE_PREFIX_PATH=/workspace/install/turtlebot3_simulations:/workspace/install/turtlebot3_gazebo:/workspace/install/nav2_rrtstar_planner
CODE_NO_PASSWORD=true
COLCON=1
COLCON_PREFIX_PATH=/workspace/install
DATA_PATH=/home/user/data
DATA_PATH_V2=/data
DESKTOP_MODE=auto
@ -8,7 +10,7 @@ DISPLAY=:1
DISPLAY_BACKEND=auto
ENABLE_CODE_SERVER=true
ENABLE_FILEBROWSER=false
ENABLE_FOXGLOVE=true
ENABLE_FOXGLOVE=false
ENABLE_GZWEB=true
ENABLE_ROSBRIDGE=true
ENABLE_TERMINAL=true
@ -16,25 +18,35 @@ ENABLE_VNC=true
FILEBROWSER_BASEURL=/file
GZWEB_APP_DIR=/opt/gzweb
GZWEB_PORT=8000
GZ_SIM_CACHE_PATH=/opt/gzsim/cache
GZ_SIM_RESOURCE_PATH=/workspace/models:/opt/gzsim/models:/workspace/models:/opt/gzsim/models:/workspace/models:/opt/gzsim/models:/usr/share/gz/gz-sim7/models
GZ_SIM_CACHE_PATH=/.gz/sim/cache
GZ_SIM_RESOURCE_PATH=/models:/workspace/models:/opt/gzsim/models:/models:/workspace/models:/opt/gzsim/models:/models:/workspace/models:/opt/gzsim/models:/usr/share/gz/gz-sim7/models
HOME=/home/devuser
INIT_SCRIPT=sed -i "/# pms-vendor-pythonpath/d;/export PYTHONPATH=\"/opt\/vendor\/python/d" /home/${USER:-devuser}/.bashrc 2>/dev/null || true
CONDA_ACTIVATE_D="${CONDA_PREFIX:-/opt/miniconda/envs/pms-py312}/etc/conda/activate.d"
if [ -d "$CONDA_ACTIVATE_D" ]; then
cat > "$CONDA_ACTIVATE_D/pms-vendor-pythonpath.sh" << 'PYEOF'
export PYTHONPATH="/opt/vendor/python:/opt/vendor/mjlab/src:/opt/vendor/mujoco_warp:/opt/vendor/demos/humanoid_skateboarding/src:$PYTHONPATH"
PYEOF
chmod +x "$CONDA_ACTIVATE_D/pms-vendor-pythonpath.sh"
fi
echo "# pms-vendor-pythonpath" >> /home/${USER:-devuser}/.bashrc
echo "export PYTHONPATH=\"/opt/vendor/python:/opt/vendor/mjlab/src:/opt/vendor/mujoco_warp:/opt/vendor/demos/humanoid_skateboarding/src:\$PYTHONPATH\"" >> /home/${USER:-devuser}/.bashrc
/workspace/autorun.sh
INIT_WORKSPACE=/workspace
LAUNCH_TYPE=EC2
LC_CTYPE=C.UTF-8
LD_LIBRARY_PATH=/usr/local/cuda/lib64:/usr/local/cuda/lib64:/usr/local/cuda/lib64:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib
LD_LIBRARY_PATH=/workspace/install/nav2_rrtstar_planner/lib:/usr/local/cuda/lib64:/usr/local/cuda/lib64:/usr/local/cuda/lib64:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib
LOGNAME=devuser
MAIL=/var/mail/devuser
OLDPWD=/workspace
PATH=/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/opt/ros/humble/bin:/usr/local/cuda/bin:/opt/TurboVNC/bin:/opt/node/bin:/opt/foundation/bin:/home/devuser/miniconda3/bin:/home/devuser/.local/bin
PATH=/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/opt/ros/humble/bin:/usr/local/cuda/bin:/opt/TurboVNC/bin:/opt/node/bin:/opt/foundation/bin
PMS_FOUNDATION_VARIANT=gpu
PMS_VNC_MODE=turbovnc
PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$
PWD=/workspace/build/turtlebot3_gazebo
PYTHONPATH=/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages
PYTHONNOUSERSITE=1
PYTHONPATH=/workspace/install/vlm_perception_pkg/lib/python3.10/site-packages:/workspace/install/vlm_nav_pkg/lib/python3.10/site-packages:/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages
ROS_DISTRO=humble
ROS_DOMAIN_ID=42
ROS_LOCALHOST_ONLY=0
@ -44,11 +56,11 @@ SHELL=/bin/bash
SHLVL=1
SINGLE_DESKTOP_APP=
SINGLE_DESKTOP_PRESET=
SPACE_DIR=/home/user/data/309844d858e5487f9c582ea361481b3d
SPACE_DIR_V2=/data/309844d858e5487f9c582ea361481b3d
SPACE_ID=309844d858e5487f9c582ea361481b3d
SPACE_DIR=/home/user/data/72f26183c345428ea9d80d3086449014
SPACE_DIR_V2=/data/72f26183c345428ea9d80d3086449014
SPACE_ID=72f26183c345428ea9d80d3086449014
USER=devuser
USER_ID=6950f1ca-1599-42c5-a926-29eb731cb95c
USER_ID=9dc62cab-cf4d-49b7-b349-349aef68e7b4
VNC_NO_PASSWORD=true
WORKSPACE=/workspace
_=/usr/bin/colcon

278
build/turtlebot3_gazebo/install_manifest.txt
View File

@ -0,0 +1,278 @@
/workspace/install/turtlebot3_gazebo/lib/turtlebot3_gazebo/turtlebot3_drive
/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/depth_cloud.launch.py
/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/empty_world.launch.py
/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/multi_robot.launch.py
/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/multi_spawn_turtlebot3.launch.py
/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/robot_state_publisher.launch.py
/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/spawn_turtlebot3.launch.py
/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/turtlebot3_autorace_2020.launch.py
/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/turtlebot3_dqn_stage1.launch.py
/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/turtlebot3_dqn_stage2.launch.py
/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/turtlebot3_dqn_stage3.launch.py
/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/turtlebot3_dqn_stage4.launch.py
/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/turtlebot3_house.launch.py
/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/turtlebot3_office.launch.py
/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//launch/turtlebot3_world.launch.py
/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//config/turtlebot3_gz_bridge.yaml
/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/checker/materials/checker.png
/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/checker/materials/scripts/checker.material
/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/checker/materials/textures/checker.png
/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/checker/model.config
/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/checker/model.sdf
/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/course/materials/scripts/course.material
/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/course/materials/textures/course.png
/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/course/model.config
/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/course/model.sdf
/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_bar/materials/scripts/traffic_bar.material
/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_bar/materials/textures/traffic_bar.png
/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_bar/model.config
/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_bar/model.sdf
/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_construction/materials/scripts/traffic_construction.material
/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_construction/materials/textures/traffic_construction.png
/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_construction/model.config
/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_construction/model.sdf
/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_intersection/materials/scripts/traffic_intersection.material
/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_intersection/materials/textures/traffic_intersection.png
/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_intersection/model.config
/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_intersection/model.sdf
/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_left/materials/scripts/traffic_is_left.material
/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_left/materials/textures/traffic_left.png
/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_left/model.config
/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_left/model.sdf
/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_light/materials/scripts/traffic_light.material
/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_light/materials/textures/traffic_light.png
/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_light/materials/textures/traffic_light_green.png
/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_light/materials/textures/traffic_light_red.png
/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_light/materials/textures/traffic_light_yellow.png
/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_light/model.config
/workspace/install/turtlebot3_gazebo/share/turtlebot3_gazebo//models/turtlebot3_autorace_2020/traffic_light/model.sdf
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BuildName:

2
build/turtlebot3_simulations/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/turtlebot3_simulations
View File

@ -1 +1 @@
/workspace/install/turtlebot3_gazebo:/opt/ros/humble
/workspace/install/vlm_perception_pkg:/workspace/install/vlm_nav_pkg:/workspace/install/turtlebot3_simulations:/workspace/install/turtlebot3_gazebo:/workspace/install/nav2_rrtstar_planner:/opt/ros/humble

358
build/turtlebot3_simulations/ament_cmake_symlink_install/ament_cmake_symlink_install.cmake
View File

@ -1,358 +0,0 @@
# generated from
# ament_cmake_core/cmake/symlink_install/ament_cmake_symlink_install.cmake.in
# create empty symlink install manifest before starting install step
file(WRITE "${CMAKE_CURRENT_BINARY_DIR}/symlink_install_manifest.txt")
#
# Reimplement CMake install(DIRECTORY) command to use symlinks instead of
# copying resources.
#
# :param cmake_current_source_dir: The CMAKE_CURRENT_SOURCE_DIR when install
# was invoked
# :type cmake_current_source_dir: string
# :param ARGN: the same arguments as the CMake install command.
# :type ARGN: various
#
function(ament_cmake_symlink_install_directory cmake_current_source_dir)
cmake_parse_arguments(ARG "OPTIONAL" "DESTINATION" "DIRECTORY;PATTERN;PATTERN_EXCLUDE" ${ARGN})
if(ARG_UNPARSED_ARGUMENTS)
message(FATAL_ERROR "ament_cmake_symlink_install_directory() called with "
"unused/unsupported arguments: ${ARG_UNPARSED_ARGUMENTS}")
endif()
# make destination absolute path and ensure that it exists
if(NOT IS_ABSOLUTE "${ARG_DESTINATION}")
set(ARG_DESTINATION "/workspace/install/turtlebot3_simulations/${ARG_DESTINATION}")
endif()
if(NOT EXISTS "${ARG_DESTINATION}")
file(MAKE_DIRECTORY "${ARG_DESTINATION}")
endif()
# default pattern to include
if(NOT ARG_PATTERN)
set(ARG_PATTERN "*")
endif()
# iterate over directories
foreach(dir ${ARG_DIRECTORY})
# make dir an absolute path
if(NOT IS_ABSOLUTE "${dir}")
set(dir "${cmake_current_source_dir}/${dir}")
endif()
if(EXISTS "${dir}")
# if directory has no trailing slash
# append folder name to destination
set(destination "${ARG_DESTINATION}")
string(LENGTH "${dir}" length)
math(EXPR offset "${length} - 1")
string(SUBSTRING "${dir}" ${offset} 1 dir_last_char)
if(NOT dir_last_char STREQUAL "/")
get_filename_component(destination_name "${dir}" NAME)
set(destination "${destination}/${destination_name}")
else()
# remove trailing slash
string(SUBSTRING "${dir}" 0 ${offset} dir)
endif()
# Create destination directory.
# This does *not* solve the problem of empty directories WITHIN the install tree,
# but does make sure that the top-level directory specified by the caller gets created.
file(MAKE_DIRECTORY "${destination}")
# glob recursive files
set(relative_files "")
foreach(pattern ${ARG_PATTERN})
file(
GLOB_RECURSE
include_files
RELATIVE "${dir}"
"${dir}/${pattern}"
)
if(NOT include_files STREQUAL "")
list(APPEND relative_files ${include_files})
endif()
endforeach()
foreach(pattern ${ARG_PATTERN_EXCLUDE})
file(
GLOB_RECURSE
exclude_files
RELATIVE "${dir}"
"${dir}/${pattern}"
)
if(NOT exclude_files STREQUAL "")
list(REMOVE_ITEM relative_files ${exclude_files})
endif()
endforeach()
list(SORT relative_files)
foreach(relative_file ${relative_files})
set(absolute_file "${dir}/${relative_file}")
# determine link name for file including destination path
set(symlink "${destination}/${relative_file}")
# ensure that destination exists
get_filename_component(symlink_dir "${symlink}" PATH)
if(NOT EXISTS "${symlink_dir}")
file(MAKE_DIRECTORY "${symlink_dir}")
endif()
_ament_cmake_symlink_install_create_symlink("${absolute_file}" "${symlink}")
endforeach()
else()
if(NOT ARG_OPTIONAL)
message(FATAL_ERROR
"ament_cmake_symlink_install_directory() can't find '${dir}'")
endif()
endif()
endforeach()
endfunction()
#
# Reimplement CMake install(FILES) command to use symlinks instead of copying
# resources.
#
# :param cmake_current_source_dir: The CMAKE_CURRENT_SOURCE_DIR when install
# was invoked
# :type cmake_current_source_dir: string
# :param ARGN: the same arguments as the CMake install command.
# :type ARGN: various
#
function(ament_cmake_symlink_install_files cmake_current_source_dir)
cmake_parse_arguments(ARG "OPTIONAL" "DESTINATION;RENAME" "FILES" ${ARGN})
if(ARG_UNPARSED_ARGUMENTS)
message(FATAL_ERROR "ament_cmake_symlink_install_files() called with "
"unused/unsupported arguments: ${ARG_UNPARSED_ARGUMENTS}")
endif()
# make destination an absolute path and ensure that it exists
if(NOT IS_ABSOLUTE "${ARG_DESTINATION}")
set(ARG_DESTINATION "/workspace/install/turtlebot3_simulations/${ARG_DESTINATION}")
endif()
if(NOT EXISTS "${ARG_DESTINATION}")
file(MAKE_DIRECTORY "${ARG_DESTINATION}")
endif()
if(ARG_RENAME)
list(LENGTH ARG_FILES file_count)
if(NOT file_count EQUAL 1)
message(FATAL_ERROR "ament_cmake_symlink_install_files() called with "
"RENAME argument but not with a single file")
endif()
endif()
# iterate over files
foreach(file ${ARG_FILES})
# make file an absolute path
if(NOT IS_ABSOLUTE "${file}")
set(file "${cmake_current_source_dir}/${file}")
endif()
if(EXISTS "${file}")
# determine link name for file including destination path
get_filename_component(filename "${file}" NAME)
if(NOT ARG_RENAME)
set(symlink "${ARG_DESTINATION}/${filename}")
else()
set(symlink "${ARG_DESTINATION}/${ARG_RENAME}")
endif()
_ament_cmake_symlink_install_create_symlink("${file}" "${symlink}")
else()
if(NOT ARG_OPTIONAL)
message(FATAL_ERROR
"ament_cmake_symlink_install_files() can't find '${file}'")
endif()
endif()
endforeach()
endfunction()
#
# Reimplement CMake install(PROGRAMS) command to use symlinks instead of copying
# resources.
#
# :param cmake_current_source_dir: The CMAKE_CURRENT_SOURCE_DIR when install
# was invoked
# :type cmake_current_source_dir: string
# :param ARGN: the same arguments as the CMake install command.
# :type ARGN: various
#
function(ament_cmake_symlink_install_programs cmake_current_source_dir)
cmake_parse_arguments(ARG "OPTIONAL" "DESTINATION" "PROGRAMS" ${ARGN})
if(ARG_UNPARSED_ARGUMENTS)
message(FATAL_ERROR "ament_cmake_symlink_install_programs() called with "
"unused/unsupported arguments: ${ARG_UNPARSED_ARGUMENTS}")
endif()
# make destination an absolute path and ensure that it exists
if(NOT IS_ABSOLUTE "${ARG_DESTINATION}")
set(ARG_DESTINATION "/workspace/install/turtlebot3_simulations/${ARG_DESTINATION}")
endif()
if(NOT EXISTS "${ARG_DESTINATION}")
file(MAKE_DIRECTORY "${ARG_DESTINATION}")
endif()
# iterate over programs
foreach(file ${ARG_PROGRAMS})
# make file an absolute path
if(NOT IS_ABSOLUTE "${file}")
set(file "${cmake_current_source_dir}/${file}")
endif()
if(EXISTS "${file}")
# determine link name for file including destination path
get_filename_component(filename "${file}" NAME)
set(symlink "${ARG_DESTINATION}/${filename}")
_ament_cmake_symlink_install_create_symlink("${file}" "${symlink}")
else()
if(NOT ARG_OPTIONAL)
message(FATAL_ERROR
"ament_cmake_symlink_install_programs() can't find '${file}'")
endif()
endif()
endforeach()
endfunction()
#
# Reimplement CMake install(TARGETS) command to use symlinks instead of copying
# resources.
#
# :param TARGET_FILES: the absolute files, replacing the name of targets passed
# in as TARGETS
# :type TARGET_FILES: list of files
# :param ARGN: the same arguments as the CMake install command except that
# keywords identifying the kind of type and the DESTINATION keyword must be
# joined with an underscore, e.g. ARCHIVE_DESTINATION.
# :type ARGN: various
#
function(ament_cmake_symlink_install_targets)
cmake_parse_arguments(ARG "OPTIONAL" "ARCHIVE_DESTINATION;DESTINATION;LIBRARY_DESTINATION;RUNTIME_DESTINATION"
"TARGETS;TARGET_FILES" ${ARGN})
if(ARG_UNPARSED_ARGUMENTS)
message(FATAL_ERROR "ament_cmake_symlink_install_targets() called with "
"unused/unsupported arguments: ${ARG_UNPARSED_ARGUMENTS}")
endif()
# iterate over target files
foreach(file ${ARG_TARGET_FILES})
if(NOT IS_ABSOLUTE "${file}")
message(FATAL_ERROR "ament_cmake_symlink_install_targets() target file "
"'${file}' must be an absolute path")
endif()
# determine destination of file based on extension
set(destination "")
get_filename_component(fileext "${file}" EXT)
if(fileext STREQUAL ".a" OR fileext STREQUAL ".lib")
set(destination "${ARG_ARCHIVE_DESTINATION}")
elseif(fileext STREQUAL ".dylib" OR fileext MATCHES "\\.so(\\.[0-9]+)?(\\.[0-9]+)?(\\.[0-9]+)?$")
set(destination "${ARG_LIBRARY_DESTINATION}")
elseif(fileext STREQUAL "" OR fileext STREQUAL ".dll" OR fileext STREQUAL ".exe")
set(destination "${ARG_RUNTIME_DESTINATION}")
endif()
if(destination STREQUAL "")
set(destination "${ARG_DESTINATION}")
endif()
# make destination an absolute path and ensure that it exists
if(NOT IS_ABSOLUTE "${destination}")
set(destination "/workspace/install/turtlebot3_simulations/${destination}")
endif()
if(NOT EXISTS "${destination}")
file(MAKE_DIRECTORY "${destination}")
endif()
if(EXISTS "${file}")
# determine link name for file including destination path
get_filename_component(filename "${file}" NAME)
set(symlink "${destination}/${filename}")
_ament_cmake_symlink_install_create_symlink("${file}" "${symlink}")
else()
if(NOT ARG_OPTIONAL)
message(FATAL_ERROR
"ament_cmake_symlink_install_targets() can't find '${file}'")
endif()
endif()
endforeach()
endfunction()
function(_ament_cmake_symlink_install_create_symlink absolute_file symlink)
# register symlink for being removed during install step
file(APPEND "${CMAKE_CURRENT_BINARY_DIR}/symlink_install_manifest.txt"
"${symlink}\n")
# avoid any work if correct symlink is already in place
if(EXISTS "${symlink}" AND IS_SYMLINK "${symlink}")
get_filename_component(destination "${symlink}" REALPATH)
get_filename_component(real_absolute_file "${absolute_file}" REALPATH)
if(destination STREQUAL real_absolute_file)
message(STATUS "Up-to-date symlink: ${symlink}")
return()
endif()
endif()
message(STATUS "Symlinking: ${symlink}")
if(EXISTS "${symlink}" OR IS_SYMLINK "${symlink}")
file(REMOVE "${symlink}")
endif()
execute_process(
COMMAND "/usr/bin/cmake" "-E" "create_symlink"
"${absolute_file}"
"${symlink}"
)
# the CMake command does not provide a return code so check manually
if(NOT EXISTS "${symlink}" OR NOT IS_SYMLINK "${symlink}")
get_filename_component(destination "${symlink}" REALPATH)
message(FATAL_ERROR
"Could not create symlink '${symlink}' pointing to '${absolute_file}'")
endif()
endfunction()
# end of template
message(STATUS "Execute custom install script")
# begin of custom install code
# install(FILES "/workspace/build/turtlebot3_simulations/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/turtlebot3_simulations" "DESTINATION" "share/ament_index/resource_index/package_run_dependencies")
ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_simulations" FILES "/workspace/build/turtlebot3_simulations/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/turtlebot3_simulations" "DESTINATION" "share/ament_index/resource_index/package_run_dependencies")
# install(FILES "/workspace/build/turtlebot3_simulations/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/turtlebot3_simulations" "DESTINATION" "share/ament_index/resource_index/parent_prefix_path")
ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_simulations" FILES "/workspace/build/turtlebot3_simulations/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/turtlebot3_simulations" "DESTINATION" "share/ament_index/resource_index/parent_prefix_path")
# install(FILES "/opt/ros/humble/share/ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh" "DESTINATION" "share/turtlebot3_simulations/environment")
ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_simulations" FILES "/opt/ros/humble/share/ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh" "DESTINATION" "share/turtlebot3_simulations/environment")
# install(FILES "/workspace/build/turtlebot3_simulations/ament_cmake_environment_hooks/ament_prefix_path.dsv" "DESTINATION" "share/turtlebot3_simulations/environment")
ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_simulations" FILES "/workspace/build/turtlebot3_simulations/ament_cmake_environment_hooks/ament_prefix_path.dsv" "DESTINATION" "share/turtlebot3_simulations/environment")
# install(FILES "/opt/ros/humble/share/ament_cmake_core/cmake/environment_hooks/environment/path.sh" "DESTINATION" "share/turtlebot3_simulations/environment")
ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_simulations" FILES "/opt/ros/humble/share/ament_cmake_core/cmake/environment_hooks/environment/path.sh" "DESTINATION" "share/turtlebot3_simulations/environment")
# install(FILES "/workspace/build/turtlebot3_simulations/ament_cmake_environment_hooks/path.dsv" "DESTINATION" "share/turtlebot3_simulations/environment")
ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_simulations" FILES "/workspace/build/turtlebot3_simulations/ament_cmake_environment_hooks/path.dsv" "DESTINATION" "share/turtlebot3_simulations/environment")
# install(FILES "/workspace/build/turtlebot3_simulations/ament_cmake_environment_hooks/local_setup.bash" "DESTINATION" "share/turtlebot3_simulations")
ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_simulations" FILES "/workspace/build/turtlebot3_simulations/ament_cmake_environment_hooks/local_setup.bash" "DESTINATION" "share/turtlebot3_simulations")
# install(FILES "/workspace/build/turtlebot3_simulations/ament_cmake_environment_hooks/local_setup.sh" "DESTINATION" "share/turtlebot3_simulations")
ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_simulations" FILES "/workspace/build/turtlebot3_simulations/ament_cmake_environment_hooks/local_setup.sh" "DESTINATION" "share/turtlebot3_simulations")
# install(FILES "/workspace/build/turtlebot3_simulations/ament_cmake_environment_hooks/local_setup.zsh" "DESTINATION" "share/turtlebot3_simulations")
ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_simulations" FILES "/workspace/build/turtlebot3_simulations/ament_cmake_environment_hooks/local_setup.zsh" "DESTINATION" "share/turtlebot3_simulations")
# install(FILES "/workspace/build/turtlebot3_simulations/ament_cmake_environment_hooks/local_setup.dsv" "DESTINATION" "share/turtlebot3_simulations")
ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_simulations" FILES "/workspace/build/turtlebot3_simulations/ament_cmake_environment_hooks/local_setup.dsv" "DESTINATION" "share/turtlebot3_simulations")
# install(FILES "/workspace/build/turtlebot3_simulations/ament_cmake_environment_hooks/package.dsv" "DESTINATION" "share/turtlebot3_simulations")
ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_simulations" FILES "/workspace/build/turtlebot3_simulations/ament_cmake_environment_hooks/package.dsv" "DESTINATION" "share/turtlebot3_simulations")
# install(FILES "/workspace/build/turtlebot3_simulations/ament_cmake_index/share/ament_index/resource_index/packages/turtlebot3_simulations" "DESTINATION" "share/ament_index/resource_index/packages")
ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_simulations" FILES "/workspace/build/turtlebot3_simulations/ament_cmake_index/share/ament_index/resource_index/packages/turtlebot3_simulations" "DESTINATION" "share/ament_index/resource_index/packages")
# install(FILES "/workspace/build/turtlebot3_simulations/ament_cmake_core/turtlebot3_simulationsConfig.cmake" "/workspace/build/turtlebot3_simulations/ament_cmake_core/turtlebot3_simulationsConfig-version.cmake" "DESTINATION" "share/turtlebot3_simulations/cmake")
ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_simulations" FILES "/workspace/build/turtlebot3_simulations/ament_cmake_core/turtlebot3_simulationsConfig.cmake" "/workspace/build/turtlebot3_simulations/ament_cmake_core/turtlebot3_simulationsConfig-version.cmake" "DESTINATION" "share/turtlebot3_simulations/cmake")
# install(FILES "/workspace/src/turtlebot3_simulations/turtlebot3_simulations/package.xml" "DESTINATION" "share/turtlebot3_simulations")
ament_cmake_symlink_install_files("/workspace/src/turtlebot3_simulations/turtlebot3_simulations" FILES "/workspace/src/turtlebot3_simulations/turtlebot3_simulations/package.xml" "DESTINATION" "share/turtlebot3_simulations")

23
build/turtlebot3_simulations/ament_cmake_symlink_install/ament_cmake_symlink_install_uninstall_script.cmake
View File

@ -1,23 +0,0 @@
# generated from
# ament_cmake_core/cmake/symlink_install/ament_cmake_symlink_install_uninstall_script.cmake.in
set(install_manifest "/workspace/build/turtlebot3_simulations/symlink_install_manifest.txt")
if(NOT EXISTS "${install_manifest}")
message(FATAL_ERROR "Cannot find symlink 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()

3
build/turtlebot3_simulations/ament_cmake_uninstall_target/ament_cmake_uninstall_target.cmake
View File

@ -55,6 +55,3 @@ endforeach()
message(STATUS "Execute custom uninstall script")
# begin of custom uninstall code
# uninstall files installed using the symlink install functions
include("/workspace/build/turtlebot3_simulations/ament_cmake_symlink_install/ament_cmake_symlink_install_uninstall_script.cmake")

2
build/turtlebot3_simulations/cmake_args.last
View File

@ -1 +1 @@
['-DAMENT_CMAKE_SYMLINK_INSTALL=1']
None

57
build/turtlebot3_simulations/cmake_install.cmake
View File

@ -43,7 +43,62 @@ if(NOT DEFINED CMAKE_OBJDUMP)
endif()
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
include("/workspace/build/turtlebot3_simulations/ament_cmake_symlink_install/ament_cmake_symlink_install.cmake")
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/ament_index/resource_index/package_run_dependencies" TYPE FILE FILES "/workspace/build/turtlebot3_simulations/ament_cmake_index/share/ament_index/resource_index/package_run_dependencies/turtlebot3_simulations")
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 "/workspace/build/turtlebot3_simulations/ament_cmake_index/share/ament_index/resource_index/parent_prefix_path/turtlebot3_simulations")
endif()
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/turtlebot3_simulations/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/turtlebot3_simulations/environment" TYPE FILE FILES "/workspace/build/turtlebot3_simulations/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/turtlebot3_simulations/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/turtlebot3_simulations/environment" TYPE FILE FILES "/workspace/build/turtlebot3_simulations/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/turtlebot3_simulations" TYPE FILE FILES "/workspace/build/turtlebot3_simulations/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/turtlebot3_simulations" TYPE FILE FILES "/workspace/build/turtlebot3_simulations/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/turtlebot3_simulations" TYPE FILE FILES "/workspace/build/turtlebot3_simulations/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/turtlebot3_simulations" TYPE FILE FILES "/workspace/build/turtlebot3_simulations/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/turtlebot3_simulations" TYPE FILE FILES "/workspace/build/turtlebot3_simulations/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 "/workspace/build/turtlebot3_simulations/ament_cmake_index/share/ament_index/resource_index/packages/turtlebot3_simulations")
endif()
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/turtlebot3_simulations/cmake" TYPE FILE FILES
"/workspace/build/turtlebot3_simulations/ament_cmake_core/turtlebot3_simulationsConfig.cmake"
"/workspace/build/turtlebot3_simulations/ament_cmake_core/turtlebot3_simulationsConfig-version.cmake"
)
endif()
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/turtlebot3_simulations" TYPE FILE FILES "/workspace/src/turtlebot3_simulations/turtlebot3_simulations/package.xml")
endif()
if(CMAKE_INSTALL_COMPONENT)

35
build/turtlebot3_simulations/colcon_command_prefix_build.sh.env
View File

@ -1,7 +1,8 @@
AMENT_PREFIX_PATH=/workspace/install/turtlebot3_gazebo:/opt/ros/humble
CMAKE_PREFIX_PATH=/workspace/install/turtlebot3_gazebo
AMENT_PREFIX_PATH=/workspace/install/vlm_perception_pkg:/workspace/install/vlm_nav_pkg:/workspace/install/turtlebot3_simulations:/workspace/install/turtlebot3_gazebo:/workspace/install/nav2_rrtstar_planner:/opt/ros/humble
CMAKE_PREFIX_PATH=/workspace/install/turtlebot3_gazebo:/workspace/install/turtlebot3_simulations:/workspace/install/nav2_rrtstar_planner
CODE_NO_PASSWORD=true
COLCON=1
COLCON_PREFIX_PATH=/workspace/install
DATA_PATH=/home/user/data
DATA_PATH_V2=/data
DESKTOP_MODE=auto
@ -9,7 +10,7 @@ DISPLAY=:1
DISPLAY_BACKEND=auto
ENABLE_CODE_SERVER=true
ENABLE_FILEBROWSER=false
ENABLE_FOXGLOVE=true
ENABLE_FOXGLOVE=false
ENABLE_GZWEB=true
ENABLE_ROSBRIDGE=true
ENABLE_TERMINAL=true
@ -17,25 +18,35 @@ ENABLE_VNC=true
FILEBROWSER_BASEURL=/file
GZWEB_APP_DIR=/opt/gzweb
GZWEB_PORT=8000
GZ_SIM_CACHE_PATH=/opt/gzsim/cache
GZ_SIM_RESOURCE_PATH=/workspace/models:/opt/gzsim/models:/workspace/models:/opt/gzsim/models:/workspace/models:/opt/gzsim/models:/usr/share/gz/gz-sim7/models
GZ_SIM_CACHE_PATH=/.gz/sim/cache
GZ_SIM_RESOURCE_PATH=/models:/workspace/models:/opt/gzsim/models:/models:/workspace/models:/opt/gzsim/models:/models:/workspace/models:/opt/gzsim/models:/usr/share/gz/gz-sim7/models
HOME=/home/devuser
INIT_SCRIPT=sed -i "/# pms-vendor-pythonpath/d;/export PYTHONPATH=\"/opt\/vendor\/python/d" /home/${USER:-devuser}/.bashrc 2>/dev/null || true
CONDA_ACTIVATE_D="${CONDA_PREFIX:-/opt/miniconda/envs/pms-py312}/etc/conda/activate.d"
if [ -d "$CONDA_ACTIVATE_D" ]; then
cat > "$CONDA_ACTIVATE_D/pms-vendor-pythonpath.sh" << 'PYEOF'
export PYTHONPATH="/opt/vendor/python:/opt/vendor/mjlab/src:/opt/vendor/mujoco_warp:/opt/vendor/demos/humanoid_skateboarding/src:$PYTHONPATH"
PYEOF
chmod +x "$CONDA_ACTIVATE_D/pms-vendor-pythonpath.sh"
fi
echo "# pms-vendor-pythonpath" >> /home/${USER:-devuser}/.bashrc
echo "export PYTHONPATH=\"/opt/vendor/python:/opt/vendor/mjlab/src:/opt/vendor/mujoco_warp:/opt/vendor/demos/humanoid_skateboarding/src:\$PYTHONPATH\"" >> /home/${USER:-devuser}/.bashrc
/workspace/autorun.sh
INIT_WORKSPACE=/workspace
LAUNCH_TYPE=EC2
LC_CTYPE=C.UTF-8
LD_LIBRARY_PATH=/usr/local/cuda/lib64:/usr/local/cuda/lib64:/usr/local/cuda/lib64:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib
LD_LIBRARY_PATH=/workspace/install/nav2_rrtstar_planner/lib:/usr/local/cuda/lib64:/usr/local/cuda/lib64:/usr/local/cuda/lib64:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib
LOGNAME=devuser
MAIL=/var/mail/devuser
OLDPWD=/workspace
PATH=/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/opt/ros/humble/bin:/usr/local/cuda/bin:/opt/TurboVNC/bin:/opt/node/bin:/opt/foundation/bin:/home/devuser/miniconda3/bin:/home/devuser/.local/bin
PATH=/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/opt/ros/humble/bin:/usr/local/cuda/bin:/opt/TurboVNC/bin:/opt/node/bin:/opt/foundation/bin
PMS_FOUNDATION_VARIANT=gpu
PMS_VNC_MODE=turbovnc
PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$
PWD=/workspace/build/turtlebot3_simulations
PYTHONPATH=/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages
PYTHONNOUSERSITE=1
PYTHONPATH=/workspace/install/vlm_perception_pkg/lib/python3.10/site-packages:/workspace/install/vlm_nav_pkg/lib/python3.10/site-packages:/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages
ROS_DISTRO=humble
ROS_DOMAIN_ID=42
ROS_LOCALHOST_ONLY=0
@ -45,11 +56,11 @@ SHELL=/bin/bash
SHLVL=1
SINGLE_DESKTOP_APP=
SINGLE_DESKTOP_PRESET=
SPACE_DIR=/home/user/data/309844d858e5487f9c582ea361481b3d
SPACE_DIR_V2=/data/309844d858e5487f9c582ea361481b3d
SPACE_ID=309844d858e5487f9c582ea361481b3d
SPACE_DIR=/home/user/data/72f26183c345428ea9d80d3086449014
SPACE_DIR_V2=/data/72f26183c345428ea9d80d3086449014
SPACE_ID=72f26183c345428ea9d80d3086449014
USER=devuser
USER_ID=6950f1ca-1599-42c5-a926-29eb731cb95c
USER_ID=9dc62cab-cf4d-49b7-b349-349aef68e7b4
VNC_NO_PASSWORD=true
WORKSPACE=/workspace
_=/usr/bin/colcon

15
build/turtlebot3_simulations/install_manifest.txt
View File

@ -0,0 +1,15 @@
/workspace/install/turtlebot3_simulations/share/ament_index/resource_index/package_run_dependencies/turtlebot3_simulations
/workspace/install/turtlebot3_simulations/share/ament_index/resource_index/parent_prefix_path/turtlebot3_simulations
/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/environment/ament_prefix_path.sh
/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/environment/ament_prefix_path.dsv
/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/environment/path.sh
/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/environment/path.dsv
/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/local_setup.bash
/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/local_setup.sh
/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/local_setup.zsh
/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/local_setup.dsv
/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/package.dsv
/workspace/install/turtlebot3_simulations/share/ament_index/resource_index/packages/turtlebot3_simulations
/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/cmake/turtlebot3_simulationsConfig.cmake
/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/cmake/turtlebot3_simulationsConfig-version.cmake
/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/package.xml

15
build/turtlebot3_simulations/symlink_install_manifest.txt
View File

@ -1,15 +0,0 @@
/workspace/install/turtlebot3_simulations/share/ament_index/resource_index/package_run_dependencies/turtlebot3_simulations
/workspace/install/turtlebot3_simulations/share/ament_index/resource_index/parent_prefix_path/turtlebot3_simulations
/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/environment/ament_prefix_path.sh
/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/environment/ament_prefix_path.dsv
/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/environment/path.sh
/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/environment/path.dsv
/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/local_setup.bash
/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/local_setup.sh
/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/local_setup.zsh
/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/local_setup.dsv
/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/package.dsv
/workspace/install/turtlebot3_simulations/share/ament_index/resource_index/packages/turtlebot3_simulations
/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/cmake/turtlebot3_simulationsConfig.cmake
/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/cmake/turtlebot3_simulationsConfig-version.cmake
/workspace/install/turtlebot3_simulations/share/turtlebot3_simulations/package.xml

0
log/build_2026-06-29_09-02-16/nav2_rrtstar_planner/stderr.log → build/vlm_nav_pkg/build/lib/vlm_nav_pkg/__init__.py
View File

65
build/vlm_nav_pkg/build/lib/vlm_nav_pkg/point_nav.py Normal file
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@ -0,0 +1,65 @@
#!/usr/bin/env python3
from copy import deepcopy
from geometry_msgs.msg import PoseStamped
import rclpy
from nav2_simple_commander.robot_navigator import BasicNavigator, TaskResult
def main():
rclpy.init()
navigator = BasicNavigator()
inspection_route = [
[-3.59, 2.93],
[-3.59, 2.93],
[-3.59, 2.98]
]
# Wait for Nav2 to be fully active
print("Waiting for Nav2 to be active...")
navigator.waitUntilNav2Active() # This waits for the lifecycle nodes, AMCL, etc.
print("Nav2 is active!")
# ******************************************
# REMOVED: The initial_pose code block
# You will set this manually in RViz
# ******************************************
# Create waypoints
inspection_points = []
for pt in inspection_route:
goal_pose = PoseStamped()
goal_pose.header.frame_id = 'map'
goal_pose.header.stamp = navigator.get_clock().now().to_msg()
goal_pose.pose.position.x = pt[0]
goal_pose.pose.position.y = pt[1]
goal_pose.pose.orientation.z = 0.0
goal_pose.pose.orientation.w = 1.0
inspection_points.append(deepcopy(goal_pose))
print(f"Following {len(inspection_points)} waypoints...")
navigator.followWaypoints(inspection_points)
i = 0
while not navigator.isTaskComplete():
i += 1
feedback = navigator.getFeedback()
if feedback and i % 5 == 0:
print(f'Executing waypoint: {feedback.current_waypoint + 1}/{len(inspection_points)}')
result = navigator.getResult()
if result == TaskResult.SUCCEEDED:
print("Navigation succeeded!")
elif result == TaskResult.CANCELED:
print("Navigation canceled!")
elif result == TaskResult.FAILED:
print("Navigation failed!")
rclpy.shutdown()
if __name__ == "__main__":
main()

424
build/vlm_nav_pkg/build/lib/vlm_nav_pkg/semantic_nav.py Normal file
View File

@ -0,0 +1,424 @@
#!/usr/bin/env python3
import json
import math
import time
import clip
import torch
from copy import deepcopy
import os
import rclpy
from rclpy.node import Node
from geometry_msgs.msg import PoseStamped
from tf2_ros import Buffer, TransformListener
from rclpy.duration import Duration
from rclpy.qos import QoSProfile, ReliabilityPolicy, DurabilityPolicy, HistoryPolicy
from nav_msgs.msg import OccupancyGrid
from nav2_simple_commander.robot_navigator import BasicNavigator, TaskResult
from ament_index_python.packages import get_package_share_directory
from vlm_perception_pkg.device_utils import resolve_torch_device
class SemanticNavNode(Node):
def __init__(self, json_path: str):
super().__init__('semantic_nav_node')
self.declare_parameter('inference_device', 'auto')
self.declare_parameter('approach_offset_m', 0.7)
self.declare_parameter('approach_offset_refrigerator_m', 0.7)
self.declare_parameter('approach_offset_water_dispenser_m', 0.7)
self.declare_parameter('approach_offset_sofa_m', 0.5)
self.declare_parameter('approach_offset_white_toilet_m', 0.7)
self.declare_parameter('approach_offset_office_chair_with_wheels_m', 0.45)
self.declare_parameter('approach_candidate_count', 8)
self.declare_parameter('approach_clearance_m', 0.30)
self.declare_parameter('approach_clearance_office_chair_with_wheels_m', 0.18)
self.declare_parameter('approach_candidate_count_office_chair_with_wheels', 16)
self.declare_parameter('approach_offset_office_chair_with_wheels_search_radii', [0.45, 0.60, 0.75])
self.map_msg = None
# Load object library
with open(json_path) as f:
self.object_lib = json.load(f)
# Load CLIP
requested_device = self.get_parameter(
'inference_device'
).get_parameter_value().string_value
self.device = resolve_torch_device(
self.get_logger(),
requested_device=requested_device,
)
self.model, _ = clip.load("ViT-B/32", device=self.device)
self.get_logger().info(
f"Semantic navigation model initialized on device={self.device} "
f"(requested={requested_device})"
)
# Build text embeddings for all object names
self.object_names = list(self.object_lib.keys())
text_tokens = clip.tokenize(self.object_names).to(self.device)
with torch.no_grad():
text_features = self.model.encode_text(text_tokens)
self.text_features = text_features / text_features.norm(dim=-1, keepdim=True)
# Initialize navigator
self.navigator = BasicNavigator()
self.navigator.waitUntilNav2Active()
self.tf_buffer = Buffer(cache_time=Duration(seconds=10))
self.tf_listener = TransformListener(self.tf_buffer, self, spin_thread=True)
map_qos = QoSProfile(
depth=1,
reliability=ReliabilityPolicy.RELIABLE,
durability=DurabilityPolicy.TRANSIENT_LOCAL,
history=HistoryPolicy.KEEP_LAST,
)
self.map_sub = self.create_subscription(
OccupancyGrid,
"/map",
self.map_callback,
map_qos,
)
self.get_logger().info("Navigator ready")
def query_object(self, prompt: str):
tokens = clip.tokenize([prompt]).to(self.device)
with torch.no_grad():
query_feat = self.model.encode_text(tokens)
query_feat /= query_feat.norm(dim=-1, keepdim=True)
sims = (query_feat @ self.text_features.T).squeeze(0)
best_idx = sims.argmax().item()
best_name = self.object_names[best_idx]
# Align with vlm_detection: position may be None if not yet detected
obj_info = self.object_lib.get(best_name, {})
pos = obj_info.get("position")
if pos is None:
self.get_logger().warn(
f"'{best_name}' matched but has no position in JSON. "
f"Run vlm_detection in AMCL mode first!"
)
return best_name, None
return best_name, pos
def navigate_to_object(self, prompt: str):
name, pos = self.query_object(prompt)
if pos is None:
self.get_logger().warn(f"Cannot navigate: no valid position for '{name}'. Please run vlm_detection first!")
return
robot_pose = self.get_robot_pose_in_map()
if robot_pose is None:
self.get_logger().warn("Cannot navigate: failed to get robot pose in map frame.")
return
offset_m = self.get_approach_offset(name)
goal_x, goal_y, yaw = self.compute_approach_goal(name, robot_pose, pos, offset_m)
robot_x, robot_y = robot_pose
distance_to_goal = math.hypot(goal_x - robot_x, goal_y - robot_y)
goal_pose = PoseStamped()
goal_pose.header.frame_id = "map"
goal_pose.header.stamp = self.navigator.get_clock().now().to_msg()
goal_pose.pose.position.x = goal_x
goal_pose.pose.position.y = goal_y
goal_pose.pose.position.z = 0.0
goal_pose.pose.orientation.z = math.sin(yaw / 2.0)
goal_pose.pose.orientation.w = math.cos(yaw / 2.0)
self.navigator.goToPose(deepcopy(goal_pose))
self.get_logger().info(
f"Navigating to {name}: object={pos}, goal={{'x': {goal_x:.4f}, 'y': {goal_y:.4f}}}, "
f"approach_offset={offset_m:.2f}m"
)
self.get_logger().info(
f"Robot pose={{'x': {robot_x:.4f}, 'y': {robot_y:.4f}}}, "
f"distance_to_goal={distance_to_goal:.4f}m"
)
# Wait until navigation completes
while not self.navigator.isTaskComplete():
feedback = self.navigator.getFeedback()
if feedback:
self.get_logger().info(
"Navigation task in progress"
)
result = self.navigator.getResult()
final_robot_pose = self.get_robot_pose_in_map()
if final_robot_pose is not None:
final_x, final_y = final_robot_pose
final_distance_to_goal = math.hypot(goal_x - final_x, goal_y - final_y)
self.get_logger().info(
f"Final robot map pose={{'x': {final_x:.4f}, 'y': {final_y:.4f}}}, "
f"distance_to_goal={final_distance_to_goal:.4f}m"
)
if result == TaskResult.SUCCEEDED:
self.get_logger().info("Navigation succeeded")
elif result == TaskResult.CANCELED:
self.get_logger().info("Navigation canceled")
elif result == TaskResult.FAILED:
self.get_logger().info("Navigation failed")
def map_callback(self, msg: OccupancyGrid):
self.map_msg = msg
def get_robot_pose_in_map(self):
target_frame = "map"
source_frame = "base_footprint"
last_error = None
for _ in range(15):
try:
if not self.tf_buffer.can_transform(
target_frame,
source_frame,
rclpy.time.Time(),
timeout=Duration(seconds=0.2)
):
continue
transform = self.tf_buffer.lookup_transform(
target_frame,
source_frame,
rclpy.time.Time(),
timeout=Duration(seconds=0.2)
)
return (
transform.transform.translation.x,
transform.transform.translation.y,
)
except Exception as e:
last_error = e
if last_error is None:
self.get_logger().warn(
"Robot pose lookup failed: transform map -> base_footprint was not available within timeout."
)
else:
self.get_logger().warn(f"Robot pose lookup failed: {last_error}")
return None
def compute_approach_goal(self, object_name, robot_pose, obj_pos, offset_m):
robot_x, robot_y = robot_pose
obj_x = obj_pos["x"]
obj_y = obj_pos["y"]
search_radii = self.get_approach_search_radii(object_name, offset_m)
candidate_count = self.get_approach_candidate_count(object_name)
approach_candidates = []
for radius in search_radii:
approach_candidates.extend(
self.generate_approach_candidates(obj_x, obj_y, radius, candidate_count)
)
feasible_candidates = [
candidate for candidate in approach_candidates
if self.is_candidate_feasible(object_name, candidate[0], candidate[1])
]
path_candidates = []
start_pose = self.build_pose_stamped(robot_x, robot_y, 0.0)
for candidate in feasible_candidates:
candidate_x, candidate_y, candidate_yaw = candidate
candidate_goal_pose = self.build_pose_stamped(candidate_x, candidate_y, candidate_yaw)
path = self.navigator.getPath(start_pose, candidate_goal_pose, use_start=True)
if path and len(path.poses) >= 2:
path_length = self.compute_path_length(path)
if path_length >= 0.2:
path_candidates.append((candidate_x, candidate_y, candidate_yaw, path_length))
if path_candidates:
goal_x, goal_y, yaw, path_length = min(
path_candidates,
key=lambda candidate: candidate[3]
)
self.get_logger().info(
f"Approach candidates for {object_name}: total={len(approach_candidates)} "
f"feasible={len(feasible_candidates)} path_feasible={len(path_candidates)} "
f"selected=({goal_x:.4f}, {goal_y:.4f}) path_length={path_length:.4f}m"
)
return goal_x, goal_y, yaw
if feasible_candidates:
goal_x, goal_y, yaw = min(
feasible_candidates,
key=lambda candidate: math.hypot(candidate[0] - robot_x, candidate[1] - robot_y)
)
self.get_logger().warn(
f"Approach candidates for {object_name}: total={len(approach_candidates)} "
f"feasible={len(feasible_candidates)} path_feasible=0, "
f"falling back to nearest map-feasible candidate=({goal_x:.4f}, {goal_y:.4f})"
)
return goal_x, goal_y, yaw
dx = obj_x - robot_x
dy = obj_y - robot_y
distance = math.hypot(dx, dy)
if distance < 1e-6:
yaw = 0.0
return obj_x, obj_y, yaw
ux = dx / distance
uy = dy / distance
goal_x = obj_x - ux * min(offset_m, max(distance - 0.05, 0.0))
goal_y = obj_y - uy * min(offset_m, max(distance - 0.05, 0.0))
yaw = math.atan2(dy, dx)
self.get_logger().warn(
f"Approach candidates for {object_name}: no feasible candidate found, "
f"falling back to line-of-sight offset goal=({goal_x:.4f}, {goal_y:.4f})"
)
return goal_x, goal_y, yaw
def generate_approach_candidates(self, obj_x, obj_y, offset_m, candidate_count):
candidates = []
for i in range(candidate_count):
angle = (2.0 * math.pi * i) / candidate_count
goal_x = obj_x + offset_m * math.cos(angle)
goal_y = obj_y + offset_m * math.sin(angle)
yaw = math.atan2(obj_y - goal_y, obj_x - goal_x)
candidates.append((goal_x, goal_y, yaw))
return candidates
def is_candidate_feasible(self, object_name: str, world_x, world_y):
map_msg = self.wait_for_map()
if map_msg is None:
return True
info = map_msg.info
resolution = info.resolution
origin_x = info.origin.position.x
origin_y = info.origin.position.y
width = info.width
height = info.height
grid_x = int((world_x - origin_x) / resolution)
grid_y = int((world_y - origin_y) / resolution)
if grid_x < 0 or grid_x >= width or grid_y < 0 or grid_y >= height:
return False
clearance_m = self.get_approach_clearance(object_name)
clearance_cells = max(0, int(math.ceil(clearance_m / resolution)))
for dy in range(-clearance_cells, clearance_cells + 1):
for dx in range(-clearance_cells, clearance_cells + 1):
if dx * dx + dy * dy > clearance_cells * clearance_cells:
continue
xx = grid_x + dx
yy = grid_y + dy
if xx < 0 or xx >= width or yy < 0 or yy >= height:
return False
cost = map_msg.data[yy * width + xx]
if cost < 0 or cost >= 50:
return False
return True
def build_pose_stamped(self, x, y, yaw):
pose = PoseStamped()
pose.header.frame_id = "map"
pose.header.stamp = self.navigator.get_clock().now().to_msg()
pose.pose.position.x = x
pose.pose.position.y = y
pose.pose.position.z = 0.0
pose.pose.orientation.z = math.sin(yaw / 2.0)
pose.pose.orientation.w = math.cos(yaw / 2.0)
return pose
def compute_path_length(self, path):
if not path.poses or len(path.poses) < 2:
return 0.0
length = 0.0
for prev_pose, next_pose in zip(path.poses[:-1], path.poses[1:]):
dx = next_pose.pose.position.x - prev_pose.pose.position.x
dy = next_pose.pose.position.y - prev_pose.pose.position.y
length += math.hypot(dx, dy)
return length
def wait_for_map(self, timeout_sec: float = 2.0):
if self.map_msg is not None:
return self.map_msg
end_time = time.time() + timeout_sec
while self.map_msg is None and time.time() < end_time:
time.sleep(0.05)
return self.map_msg
def get_approach_candidate_count(self, object_name: str) -> int:
default_count = int(
self.get_parameter('approach_candidate_count').get_parameter_value().integer_value
)
param_name = (
"approach_candidate_count_"
+ object_name.lower().replace(" ", "_")
)
if self.has_parameter(param_name):
default_count = int(self.get_parameter(param_name).get_parameter_value().integer_value)
return min(max(default_count, 4), 16)
def get_approach_search_radii(self, object_name: str, default_offset: float):
param_name = (
"approach_offset_"
+ object_name.lower().replace(" ", "_")
+ "_search_radii"
)
if self.has_parameter(param_name):
value = self.get_parameter(param_name).value
if value:
return [float(radius) for radius in value]
return [default_offset]
def get_approach_clearance(self, object_name: str) -> float:
default_clearance = self.get_parameter(
'approach_clearance_m'
).get_parameter_value().double_value
param_name = (
"approach_clearance_"
+ object_name.lower().replace(" ", "_")
+ "_m"
)
if self.has_parameter(param_name):
return self.get_parameter(param_name).get_parameter_value().double_value
return default_clearance
def get_approach_offset(self, object_name: str) -> float:
default_offset = self.get_parameter(
'approach_offset_m'
).get_parameter_value().double_value
param_name = (
"approach_offset_"
+ object_name.lower().replace(" ", "_")
+ "_m"
)
if self.has_parameter(param_name):
return self.get_parameter(param_name).get_parameter_value().double_value
return default_offset
def cleanup(self):
if hasattr(self, 'tf_listener'):
try:
if hasattr(self.tf_listener, 'executor'):
self.tf_listener.executor.shutdown(timeout_sec=0.5)
if hasattr(self.tf_listener, 'dedicated_listener_thread'):
self.tf_listener.dedicated_listener_thread.join(timeout=0.5)
self.tf_listener.unregister()
except Exception:
pass
def main():
rclpy.init()
package_share_dir = get_package_share_directory('vlm_nav_pkg')
json_file_path = os.path.join(package_share_dir, 'config', 'example_object_detection_vlm.json')
node = SemanticNavNode(json_file_path)
try:
user_input = input("Where do you want to go: ")
node.navigate_to_object(user_input)
finally:
node.cleanup()
node.destroy_node()
if rclpy.ok():
rclpy.shutdown()
if __name__ == "__main__":
main()

34
build/vlm_nav_pkg/colcon_command_prefix_setup_py.sh.env
View File

@ -1,6 +1,8 @@
AMENT_PREFIX_PATH=/opt/ros/humble
AMENT_PREFIX_PATH=/workspace/install/vlm_perception_pkg:/workspace/install/vlm_nav_pkg:/workspace/install/turtlebot3_simulations:/workspace/install/turtlebot3_gazebo:/workspace/install/nav2_rrtstar_planner:/opt/ros/humble
CMAKE_PREFIX_PATH=/workspace/install/turtlebot3_simulations:/workspace/install/turtlebot3_gazebo:/workspace/install/nav2_rrtstar_planner
CODE_NO_PASSWORD=true
COLCON=1
COLCON_PREFIX_PATH=/workspace/install
DATA_PATH=/home/user/data
DATA_PATH_V2=/data
DESKTOP_MODE=auto
@ -8,7 +10,7 @@ DISPLAY=:1
DISPLAY_BACKEND=auto
ENABLE_CODE_SERVER=true
ENABLE_FILEBROWSER=false
ENABLE_FOXGLOVE=true
ENABLE_FOXGLOVE=false
ENABLE_GZWEB=true
ENABLE_ROSBRIDGE=true
ENABLE_TERMINAL=true
@ -16,25 +18,35 @@ ENABLE_VNC=true
FILEBROWSER_BASEURL=/file
GZWEB_APP_DIR=/opt/gzweb
GZWEB_PORT=8000
GZ_SIM_CACHE_PATH=/opt/gzsim/cache
GZ_SIM_RESOURCE_PATH=/workspace/models:/opt/gzsim/models:/workspace/models:/opt/gzsim/models:/workspace/models:/opt/gzsim/models:/usr/share/gz/gz-sim7/models
GZ_SIM_CACHE_PATH=/.gz/sim/cache
GZ_SIM_RESOURCE_PATH=/models:/workspace/models:/opt/gzsim/models:/models:/workspace/models:/opt/gzsim/models:/models:/workspace/models:/opt/gzsim/models:/usr/share/gz/gz-sim7/models
HOME=/home/devuser
INIT_SCRIPT=sed -i "/# pms-vendor-pythonpath/d;/export PYTHONPATH=\"/opt\/vendor\/python/d" /home/${USER:-devuser}/.bashrc 2>/dev/null || true
CONDA_ACTIVATE_D="${CONDA_PREFIX:-/opt/miniconda/envs/pms-py312}/etc/conda/activate.d"
if [ -d "$CONDA_ACTIVATE_D" ]; then
cat > "$CONDA_ACTIVATE_D/pms-vendor-pythonpath.sh" << 'PYEOF'
export PYTHONPATH="/opt/vendor/python:/opt/vendor/mjlab/src:/opt/vendor/mujoco_warp:/opt/vendor/demos/humanoid_skateboarding/src:$PYTHONPATH"
PYEOF
chmod +x "$CONDA_ACTIVATE_D/pms-vendor-pythonpath.sh"
fi
echo "# pms-vendor-pythonpath" >> /home/${USER:-devuser}/.bashrc
echo "export PYTHONPATH=\"/opt/vendor/python:/opt/vendor/mjlab/src:/opt/vendor/mujoco_warp:/opt/vendor/demos/humanoid_skateboarding/src:\$PYTHONPATH\"" >> /home/${USER:-devuser}/.bashrc
/workspace/autorun.sh
INIT_WORKSPACE=/workspace
LAUNCH_TYPE=EC2
LC_CTYPE=C.UTF-8
LD_LIBRARY_PATH=/usr/local/cuda/lib64:/usr/local/cuda/lib64:/usr/local/cuda/lib64:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib
LD_LIBRARY_PATH=/workspace/install/nav2_rrtstar_planner/lib:/usr/local/cuda/lib64:/usr/local/cuda/lib64:/usr/local/cuda/lib64:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib
LOGNAME=devuser
MAIL=/var/mail/devuser
OLDPWD=/workspace
PATH=/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/opt/ros/humble/bin:/usr/local/cuda/bin:/opt/TurboVNC/bin:/opt/node/bin:/opt/foundation/bin:/home/devuser/miniconda3/bin:/home/devuser/.local/bin
PATH=/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/opt/ros/humble/bin:/usr/local/cuda/bin:/opt/TurboVNC/bin:/opt/node/bin:/opt/foundation/bin
PMS_FOUNDATION_VARIANT=gpu
PMS_VNC_MODE=turbovnc
PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$
PWD=/workspace/build/vlm_nav_pkg
PYTHONPATH=/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages
PYTHONNOUSERSITE=1
PYTHONPATH=/workspace/install/vlm_perception_pkg/lib/python3.10/site-packages:/workspace/install/vlm_nav_pkg/lib/python3.10/site-packages:/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages
ROS_DISTRO=humble
ROS_DOMAIN_ID=42
ROS_LOCALHOST_ONLY=0
@ -44,11 +56,11 @@ SHELL=/bin/bash
SHLVL=1
SINGLE_DESKTOP_APP=
SINGLE_DESKTOP_PRESET=
SPACE_DIR=/home/user/data/309844d858e5487f9c582ea361481b3d
SPACE_DIR_V2=/data/309844d858e5487f9c582ea361481b3d
SPACE_ID=309844d858e5487f9c582ea361481b3d
SPACE_DIR=/home/user/data/72f26183c345428ea9d80d3086449014
SPACE_DIR_V2=/data/72f26183c345428ea9d80d3086449014
SPACE_ID=72f26183c345428ea9d80d3086449014
USER=devuser
USER_ID=6950f1ca-1599-42c5-a926-29eb731cb95c
USER_ID=9dc62cab-cf4d-49b7-b349-349aef68e7b4
VNC_NO_PASSWORD=true
WORKSPACE=/workspace
_=/usr/bin/colcon

1
build/vlm_nav_pkg/config/example_object_detection_vlm.json
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@ -1 +0,0 @@
/workspace/src/vlm_nav_pkg/config/example_object_detection_vlm.json

1
build/vlm_nav_pkg/config/test_vlm.json
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@ -1 +0,0 @@
/workspace/src/vlm_nav_pkg/config/test_vlm.json

19
build/vlm_nav_pkg/install.log Normal file
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@ -0,0 +1,19 @@
/workspace/install/vlm_nav_pkg/lib/python3.10/site-packages/vlm_nav_pkg/__init__.py
/workspace/install/vlm_nav_pkg/lib/python3.10/site-packages/vlm_nav_pkg/point_nav.py
/workspace/install/vlm_nav_pkg/lib/python3.10/site-packages/vlm_nav_pkg/semantic_nav.py
/workspace/install/vlm_nav_pkg/lib/python3.10/site-packages/vlm_nav_pkg/__pycache__/__init__.cpython-310.pyc
/workspace/install/vlm_nav_pkg/lib/python3.10/site-packages/vlm_nav_pkg/__pycache__/point_nav.cpython-310.pyc
/workspace/install/vlm_nav_pkg/lib/python3.10/site-packages/vlm_nav_pkg/__pycache__/semantic_nav.cpython-310.pyc
/workspace/install/vlm_nav_pkg/share/ament_index/resource_index/packages/vlm_nav_pkg
/workspace/install/vlm_nav_pkg/share/vlm_nav_pkg/package.xml
/workspace/install/vlm_nav_pkg/share/vlm_nav_pkg/config/example_object_detection_vlm.json
/workspace/install/vlm_nav_pkg/share/vlm_nav_pkg/config/test_vlm.json
/workspace/install/vlm_nav_pkg/lib/python3.10/site-packages/vlm_nav_pkg-0.0.0-py3.10.egg-info/PKG-INFO
/workspace/install/vlm_nav_pkg/lib/python3.10/site-packages/vlm_nav_pkg-0.0.0-py3.10.egg-info/SOURCES.txt
/workspace/install/vlm_nav_pkg/lib/python3.10/site-packages/vlm_nav_pkg-0.0.0-py3.10.egg-info/dependency_links.txt
/workspace/install/vlm_nav_pkg/lib/python3.10/site-packages/vlm_nav_pkg-0.0.0-py3.10.egg-info/entry_points.txt
/workspace/install/vlm_nav_pkg/lib/python3.10/site-packages/vlm_nav_pkg-0.0.0-py3.10.egg-info/requires.txt
/workspace/install/vlm_nav_pkg/lib/python3.10/site-packages/vlm_nav_pkg-0.0.0-py3.10.egg-info/top_level.txt
/workspace/install/vlm_nav_pkg/lib/python3.10/site-packages/vlm_nav_pkg-0.0.0-py3.10.egg-info/zip-safe
/workspace/install/vlm_nav_pkg/lib/vlm_nav_pkg/point_nav
/workspace/install/vlm_nav_pkg/lib/vlm_nav_pkg/semantic_nav

1
build/vlm_nav_pkg/package.xml
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@ -1 +0,0 @@
/workspace/src/vlm_nav_pkg/package.xml

BIN
build/vlm_nav_pkg/prefix_override/__pycache__/sitecustomize.cpython-310.pyc
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Binary file not shown.

1
build/vlm_nav_pkg/resource/vlm_nav_pkg
View File

@ -1 +0,0 @@
/workspace/src/vlm_nav_pkg/resource/vlm_nav_pkg

1
build/vlm_nav_pkg/setup.cfg
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@ -1 +0,0 @@
/workspace/src/vlm_nav_pkg/setup.cfg

1
build/vlm_nav_pkg/setup.py
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@ -1 +0,0 @@
/workspace/src/vlm_nav_pkg/setup.py

1
build/vlm_nav_pkg/share/vlm_nav_pkg/hook/pythonpath_develop.dsv
View File

@ -1 +0,0 @@
prepend-non-duplicate;PYTHONPATH;/workspace/build/vlm_nav_pkg

3
build/vlm_nav_pkg/share/vlm_nav_pkg/hook/pythonpath_develop.ps1
View File

@ -1,3 +0,0 @@
# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
colcon_prepend_unique_value PYTHONPATH "$env:COLCON_CURRENT_PREFIX//workspace/build/vlm_nav_pkg"

3
build/vlm_nav_pkg/share/vlm_nav_pkg/hook/pythonpath_develop.sh
View File

@ -1,3 +0,0 @@
# generated from colcon_core/shell/template/hook_prepend_value.sh.em
_colcon_prepend_unique_value PYTHONPATH "/workspace/build/vlm_nav_pkg"

1
build/vlm_nav_pkg/vlm_nav_pkg
View File

@ -1 +0,0 @@
/workspace/src/vlm_nav_pkg/vlm_nav_pkg

1
build/vlm_nav_pkg/vlm_nav_pkg.egg-info/PKG-INFO
View File

@ -7,6 +7,7 @@ Maintainer: ariel
Maintainer-email: bhu16300@gmail.com
License: Apache-2.0
Platform: UNKNOWN
License-File: LICENSE
UNKNOWN

20
build/vlm_nav_pkg/vlm_nav_pkg.egg-info/SOURCES.txt
View File

@ -1,16 +1,20 @@
LICENSE
package.xml
setup.cfg
setup.py
../../build/vlm_nav_pkg/vlm_nav_pkg.egg-info/PKG-INFO
../../build/vlm_nav_pkg/vlm_nav_pkg.egg-info/SOURCES.txt
../../build/vlm_nav_pkg/vlm_nav_pkg.egg-info/dependency_links.txt
../../build/vlm_nav_pkg/vlm_nav_pkg.egg-info/entry_points.txt
../../build/vlm_nav_pkg/vlm_nav_pkg.egg-info/requires.txt
../../build/vlm_nav_pkg/vlm_nav_pkg.egg-info/top_level.txt
../../build/vlm_nav_pkg/vlm_nav_pkg.egg-info/zip-safe
config/example_object_detection_vlm.json
config/test_vlm.json
resource/vlm_nav_pkg
test/test_copyright.py
test/test_flake8.py
test/test_pep257.py
vlm_nav_pkg/__init__.py
vlm_nav_pkg/point_nav.py
vlm_nav_pkg/semantic_nav.py
vlm_nav_pkg.egg-info/PKG-INFO
vlm_nav_pkg.egg-info/SOURCES.txt
vlm_nav_pkg.egg-info/dependency_links.txt
vlm_nav_pkg.egg-info/entry_points.txt
vlm_nav_pkg.egg-info/requires.txt
vlm_nav_pkg.egg-info/top_level.txt
vlm_nav_pkg.egg-info/zip-safe
vlm_nav_pkg/semantic_nav.py

0
log/build_2026-06-29_09-02-16/turtlebot3_gazebo/stderr.log → build/vlm_perception_pkg/build/lib/vlm_perception_pkg/__init__.py
View File

42
build/vlm_perception_pkg/build/lib/vlm_perception_pkg/device_utils.py Normal file
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@ -0,0 +1,42 @@
import torch
def resolve_torch_device(
logger,
requested_device: str = "auto",
cuda_probe_fn=None,
):
"""Pick a safe torch device, falling back to CPU if CUDA is unavailable or unusable."""
requested = (requested_device or "auto").strip().lower()
valid = {"auto", "cpu", "cuda"}
if requested not in valid:
logger.warn(
f"Unknown inference_device='{requested_device}', falling back to auto"
)
requested = "auto"
if requested == "cpu":
return "cpu"
if not torch.cuda.is_available():
if requested == "cuda":
logger.warn("CUDA was requested but is not available; falling back to CPU")
return "cpu"
probe = cuda_probe_fn or _default_cuda_probe
try:
probe()
return "cuda"
except Exception as exc:
logger.warn(
"CUDA is visible but not usable by the installed PyTorch build; "
f"falling back to CPU. Details: {exc}"
)
return "cpu"
def _default_cuda_probe():
# Force a tiny kernel launch so unsupported GPU architectures fail early.
tensor = torch.zeros(1, device="cuda")
_ = tensor + 1
torch.cuda.synchronize()

51
build/vlm_perception_pkg/build/lib/vlm_perception_pkg/multi_waypoint_navigation.py Normal file
View File

@ -0,0 +1,51 @@
#!/usr/bin/env python3
from copy import deepcopy
from geometry_msgs.msg import PoseStamped
import rclpy
from nav2_simple_commander.robot_navigator import BasicNavigator
def main():
rclpy.init()
navigator = BasicNavigator()
inspection_route = [
[5.0, 0.0],
[-5.0, -5.0],
[-5.0, 5.0]
]
print("get nav points")
navigator.waitUntilNav2Active()
inspection_points = []
inspection_pose = PoseStamped()
inspection_pose.header.frame_id = 'map'
inspection_pose.header.stamp = navigator.get_clock().now().to_msg()
inspection_pose.pose.orientation.z = 1.0
inspection_pose.pose.orientation.w = 0.0
for pt in inspection_route:
inspection_pose.pose.position.x = pt[0]
inspection_pose.pose.position.y = pt[1]
inspection_points.append(deepcopy(inspection_pose))
navigator.followWaypoints(inspection_points)
i = 0
while not navigator.isNavComplete():
i += 1
feedback = navigator.getFeedback()
if feedback and i % 5 == 0:
print('executing waypoint: ' +
str(feedback.current_waypoint + 1) + '/' +
str(len(inspection_points)))
result = navigator.get_result()
if result == navigator.SUCCEEDED:
print("Navigation succeeded")
elif result == navigator.CANCELED:
print("Navigation canceled")
elif result == navigator.FAILED:
print("Navigation failed")
if __name__ == "__main__":
main()

153
build/vlm_perception_pkg/build/lib/vlm_perception_pkg/simple_detection.py Normal file
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@ -0,0 +1,153 @@
# import rclpy
# from rclpy.node import Node
# from geometry_msgs.msg import PoseStamped
# def run():
# rclpy.init()
# node = Node("pose_stamped_example")
# pose = PoseStamped()
# pose.pose.position.x = 1.0
# pose.pose.position.y = 2.0
# pose.pose.position.z = 3.0
# node.get_logger().info(f"X: {pose.pose.position.x}")
# node.get_logger().info(f"Y: {pose.pose.position.y}")
# node.get_logger().info(f"Z: {pose.pose.position.z}")
# node.destroy_node()
# rclpy.shutdown()
#################################################################333
#!/usr/bin/env python3
# import rclpy
# from rclpy.node import Node
# from geometry_msgs.msg import PoseStamped
# def run():
# rclpy.init()
# node = Node("pose_stamped_example")
# pose = PoseStamped()
# pose.pose.position.x = 1.0
# pose.pose.position.y = 2.0
# pose.pose.position.z = 3.0
# node.get_logger().info(f"X: {pose.pose.position.x}")
# node.get_logger().info(f"Y: {pose.pose.position.y}")
# node.get_logger().info(f"Z: {pose.pose.position.z}")
# node.destroy_node()
# rclpy.shutdown()
#################################################################333
#!/usr/bin/env python3
import rclpy
from rclpy.node import Node
from sensor_msgs.msg import Image, CameraInfo
from geometry_msgs.msg import PoseStamped
from cv_bridge import CvBridge
import numpy as np
from tf2_ros import Buffer, TransformListener
import tf2_geometry_msgs
from tf2_ros import Buffer, TransformListener
from tf2_geometry_msgs.tf2_geometry_msgs import do_transform_pose
import rclpy
from rclpy.duration import Duration
from rclpy.time import Time
from visualization_msgs.msg import Marker
from std_msgs.msg import ColorRGBA
class DepthTo3DNode(Node):
def __init__(self):
super().__init__('depth_to_3d')
self.bridge = CvBridge()
self.latest_depth = None
self.camera_info = None
self.tf_buffer = Buffer(cache_time=Duration(seconds=10))
self.tf_listener = TransformListener(self.tf_buffer, self)
self.depth_sub = self.create_subscription(
Image, "/intel_realsense_r200_depth/depth/image_raw",
self.depth_callback, 10)
self.camera_info_sub = self.create_subscription(
CameraInfo, "/intel_realsense_r200_depth/camera_info",
self.camera_info_callback, 10)
self.pose_pub = self.create_publisher(PoseStamped, '/object_in_odom', 10)
def camera_info_callback(self, msg):
self.camera_info = msg
self.img_frame = "realsense_depth_frame"
self.get_logger().info(f"Camera info received, using frame: {self.img_frame}")
def depth_callback(self, msg):
try:
cv_image = self.bridge.imgmsg_to_cv2(msg, desired_encoding='passthrough')
self.latest_depth = cv_image.astype(np.float32)
self.process_depth()
except Exception as e:
self.get_logger().error(f"Depth conversion failed: {str(e)}")
def process_depth(self):
if self.latest_depth is None or self.camera_info is None:
return
h, w = self.latest_depth.shape[:2]
x_center = w // 2
y_center = h // 2
depth = self.latest_depth[y_center, x_center]
fx = self.camera_info.k[0]
fy = self.camera_info.k[4]
cx = self.camera_info.k[2]
cy = self.camera_info.k[5]
X = (x_center - cx) * depth / fx
Y = (y_center - cy) * depth / fy
Z = float(depth)
pose = PoseStamped()
pose.header.stamp = self.get_clock().now().to_msg()
pose.header.frame_id = self.img_frame
pose.pose.position.x = X
pose.pose.position.y = Y
pose.pose.position.z = Z
pose.pose.orientation.w = 1.0
try:
transform = self.tf_buffer.lookup_transform(
"odom",
self.img_frame,
rclpy.time.Time()
)
#self.get_logger().info(f"odom_frame: {transform.header.frame_id}")
# self.get_logger().info(f"camera_frame: {transform.child_frame_id}")
t = transform.transform.translation
# self.get_logger().info(f"relative coordinates: x={t.x}, y={t.y}, z={t.z}")
self.get_logger().info("Transformed to 'odom' frame")
ob2odom = self.tf_buffer.transform(pose, "odom", timeout=Duration(seconds=0.5))
self.get_logger().info(
f"object coordinates in odom frame: x={ob2odom.pose.position.x}, "
f"y={ob2odom.pose.position.y}, z={ob2odom.pose.position.z}"
)
ob2odom.header.stamp = self.get_clock().now().to_msg() # make sure stamp is valid
ob2odom.header.frame_id = "odom"
self.pose_pub.publish(ob2odom)
except Exception as e:
self.get_logger().error(f"TF lookup failed: {e}")
rclpy.init()
node = DepthTo3DNode()
try:
rclpy.spin(node)
finally:
node.destroy_node()
rclpy.shutdown()

373
build/vlm_perception_pkg/build/lib/vlm_perception_pkg/vlm_detection.py Normal file
View File

@ -0,0 +1,373 @@
#!/usr/bin/env python3
import rclpy
from rclpy.node import Node
from rclpy.executors import MultiThreadedExecutor
from rclpy.callback_groups import ReentrantCallbackGroup, MutuallyExclusiveCallbackGroup
from cv_bridge import CvBridge, CvBridgeError
import torch
import torch.nn.functional as F
import torchvision
from torchvision import transforms
import clip
import cv2
import json
import os
import time
from datetime import datetime
import numpy as np
from ament_index_python.packages import get_package_share_directory
from tf2_ros import Buffer, TransformListener
from rclpy.duration import Duration
from geometry_msgs.msg import PoseStamped
from sensor_msgs.msg import Image, CameraInfo
import tf2_geometry_msgs
from tf2_geometry_msgs.tf2_geometry_msgs import do_transform_pose
from vlm_perception_pkg.device_utils import resolve_torch_device
class ClipDetectionNode(Node):
def __init__(self):
super().__init__('clip_detector')
self.declare_parameter('reset_records_on_startup', False)
self.declare_parameter('detection_interval_sec', 1.0)
self.declare_parameter('frcnn_min_score', 0.3)
self.declare_parameter('frcnn_top_k', 2)
self.declare_parameter('inference_device', 'auto')
self.bridge = CvBridge()
requested_device = self.get_parameter(
'inference_device'
).get_parameter_value().string_value
self.device = resolve_torch_device(
self.get_logger(),
requested_device=requested_device,
)
# Camera cache: subscriber callbacks only keep the latest data.
self.latest_depth = None
self.latest_depth_stamp = None
self.camera_info = None
self.latest_camera_info_stamp = None
self.latest_stamp = None
self.latest_rgb = None
self.img_frame = "realsense_depth_frame"
self.processing_frame = False
self.sensor_callback_group = ReentrantCallbackGroup()
self.timer_callback_group = MutuallyExclusiveCallbackGroup()
self.tf_buffer = Buffer(cache_time=Duration(seconds=10))
self.tf_listener = TransformListener(self.tf_buffer, self)
# CLIP + Faster R-CNN
self.clip_model, self.clip_preprocess = clip.load("ViT-B/32", device=self.device)
self.frcnn_model = torchvision.models.detection.fasterrcnn_resnet50_fpn_v2(
weights="DEFAULT"
).to(self.device).eval()
self.get_logger().info(
f"Detection models initialized on device={self.device} "
f"(requested={requested_device})"
)
# Labels and score tracking
self.labels = ["Refrigerator","water dispenser", "sofa", "white toilet", "office chair with wheels"]
# Initialize score tracking - save directly to vlm_nav_pkg config
# so semantic_nav reads the same file without manual copy
try:
nav_pkg_dir = get_package_share_directory('vlm_nav_pkg')
self.score_records_file = os.path.join(
nav_pkg_dir, 'config', 'example_object_detection_vlm.json'
)
except Exception:
self.get_logger().warn(
"vlm_nav_pkg not found, saving JSON to current directory"
)
self.score_records_file = "object_detection_vlm.json"
reset_records = self.get_parameter(
'reset_records_on_startup'
).get_parameter_value().bool_value
if reset_records:
self.score_records = {
label: {"highest_score": 0.0, "last_detected": None, "position": None}
for label in self.labels
}
self.save_score_records()
self.get_logger().info(f"Score records reset: {self.score_records_file}")
else:
self.score_records = self.load_score_records()
self.get_logger().info(f"Score records loaded: {self.score_records_file}")
# Subscribers & Publishers
self.pose_pub = self.create_publisher(PoseStamped, "/object_in_map", 10)
self.rgb_sub = self.create_subscription(
Image,
"/intel_realsense_r200_rgb/image_raw",
self.rgb_callback,
10,
callback_group=self.sensor_callback_group
)
self.depth_sub = self.create_subscription(
Image,
"/intel_realsense_r200_depth/depth/image_raw",
self.depth_callback,
10,
callback_group=self.sensor_callback_group
)
self.camera_info_sub = self.create_subscription(
CameraInfo, "/intel_realsense_r200_depth/camera_info",
self.camera_info_callback, 10,
callback_group=self.sensor_callback_group)
self.annotated_pub = self.create_publisher(Image, "/percep/annotated_image", 10)
interval_sec = self.get_parameter(
'detection_interval_sec'
).get_parameter_value().double_value
self.detection_timer = self.create_timer(
interval_sec,
self.process_frame,
callback_group=self.timer_callback_group,
)
self.get_logger().info(
f"Detection timer enabled: processing latest frame every {interval_sec:.2f}s"
)
def camera_info_callback(self, msg):
self.camera_info = msg
self.latest_camera_info_stamp = msg.header.stamp
if msg.header.frame_id:
self.img_frame = msg.header.frame_id
def load_score_records(self):
"""Load existing score records or create new ones"""
if os.path.exists(self.score_records_file):
with open(self.score_records_file, 'r') as f:
try:
return json.load(f)
except json.JSONDecodeError:
self.get_logger().warn("Score file corrupted, creating new one")
# Initialize with empty records
return {label: {"highest_score": 0.0, "last_detected": None, "position":None} for label in self.labels}
def save_score_records(self):
"""Save current score records to file"""
with open(self.score_records_file, 'w') as f:
json.dump(self.score_records, f, indent=4)
def update_score_records(self, label, score, position=None):
"""Update records when confidence matches or exceeds the best score."""
current_time = datetime.now().isoformat()
if label not in self.score_records:
self.score_records[label] = {
"highest_score": score,
"last_detected": current_time,
"position": position
}
self.save_score_records()
return True
updated = False
if score >= self.score_records[label]["highest_score"]:
# Refresh the best score and associated position on ties or improvements.
self.score_records[label]["highest_score"] = score
if position is not None:
self.score_records[label]["position"] = position
updated = True
# Always refresh timestamp (even without position/score change)
self.score_records[label]["last_detected"] = current_time
self.save_score_records()
return updated
def rgb_callback(self, msg):
try:
self.latest_rgb = self.bridge.imgmsg_to_cv2(msg, "bgr8")
self.latest_stamp = msg.header.stamp
except CvBridgeError as e:
self.get_logger().error(f"CvBridge error: {e}")
return
def depth_callback(self, msg):
try:
self.latest_depth = self.bridge.imgmsg_to_cv2(msg, desired_encoding="32FC1")
self.latest_depth_stamp = msg.header.stamp
except CvBridgeError as e:
self.get_logger().error(f"Depth CvBridge error: {e}")
return
def process_frame(self):
if self.processing_frame:
return
if self.latest_rgb is None or self.latest_depth is None or self.camera_info is None:
return
if self.latest_stamp is None or self.latest_depth_stamp is None:
return
self.processing_frame = True
start_time = time.perf_counter()
try:
cv_img = self.latest_rgb.copy()
depth_img = self.latest_depth.copy()
frame_stamp = self.latest_depth_stamp
camera_info = self.camera_info
image_tensor = transforms.ToTensor()(cv_img).to(self.device)
frcnn_min_score = self.get_parameter(
'frcnn_min_score'
).get_parameter_value().double_value
frcnn_top_k = self.get_parameter(
'frcnn_top_k'
).get_parameter_value().integer_value
with torch.no_grad():
frcnn_output = self.frcnn_model([image_tensor])[0]
candidate_boxes = frcnn_output['boxes']
candidate_scores = frcnn_output['scores']
total_candidate_count = len(candidate_boxes)
filtered_indices = [
i for i, score in enumerate(candidate_scores)
if float(score) >= frcnn_min_score
]
filtered_indices.sort(key=lambda i: float(candidate_scores[i]), reverse=True)
selected_indices = filtered_indices[:frcnn_top_k]
candidate_boxes = [candidate_boxes[i] for i in selected_indices]
self.get_logger().info(
f"FRCNN candidates: total={total_candidate_count} "
f"filtered={len(filtered_indices)} top_k={frcnn_top_k} "
f"selected={len(candidate_boxes)}"
)
best_labels_per_box = {} # key: box index, value: (label, score)
for i, box in enumerate(candidate_boxes):
max_score = -1
best_label = None
for label in self.labels:
_, score = self.match_label_box(label, image_tensor, [box])
if score > max_score:
max_score = score
best_label = label
if max_score >= 0.25 and best_label is not None:
best_labels_per_box[i] = (best_label, max_score)
is_new_record = False
position = None
box_index = i
box = candidate_boxes[box_index]
x_min, y_min, x_max, y_max = map(int, box)
x_center = (x_min + x_max) // 2
y_center = (y_min + y_max) // 2
depth = float(depth_img[y_center, x_center])
if np.isnan(depth) or depth <= 0.0:
continue
fx = camera_info.k[0]
fy = camera_info.k[4]
cx = camera_info.k[2]
cy = camera_info.k[5]
X = (x_center - cx) * depth / fx
Y = (y_center - cy) * depth / fy
Z = depth
pose = PoseStamped()
pose.header.stamp = frame_stamp
pose.header.frame_id = self.img_frame
pose.pose.position.x = X
pose.pose.position.y = Y
pose.pose.position.z = Z
pose.pose.orientation.w = 1.0
# TF transform: camera frame -> map frame (semantic_nav 需要 map 坐标)
try:
ob2map = self.tf_buffer.transform(
pose, "map", timeout=Duration(seconds=1.0)
)
self.pose_pub.publish(ob2map)
self.get_logger().info(
f"object coordinates in map frame: x={ob2map.pose.position.x:.3f}, "
f"y={ob2map.pose.position.y:.3f}, z={ob2map.pose.position.z:.3f}"
)
position = {
"x": round(ob2map.pose.position.x, 4),
"y": round(ob2map.pose.position.y, 4),
"z": round(ob2map.pose.position.z, 4)
}
is_new_record = self.update_score_records(best_label, max_score, position=position)
except Exception as e:
self.get_logger().error(f"TF transform to map failed: {e}")
is_new_record = False
log_msg = f"{best_label} detected with confidence score {max_score:.2f}"
if is_new_record:
log_msg += " (NEW RECORD!)"
self.get_logger().info(log_msg)
matched_boxes = [candidate_boxes[i] for i in best_labels_per_box.keys()]
matched_labels = [f"{lbl} ({score:.2f})" for lbl, score in best_labels_per_box.values()]
annotated_img = self.draw_boxes(cv_img, matched_boxes, matched_labels)
try:
self.annotated_pub.publish(self.bridge.cv2_to_imgmsg(annotated_img, encoding="bgr8"))
except CvBridgeError as e:
self.get_logger().error(f"Publish error: {e}")
finally:
elapsed_ms = (time.perf_counter() - start_time) * 1000.0
self.get_logger().info(f"Detection cycle took {elapsed_ms:.1f} ms")
self.processing_frame = False
def match_label_box(self, label, image_tensor, boxes):
max_sim, best_box = -1, None
tokenized_text = clip.tokenize([label]).to(self.device)
text_feat = F.normalize(self.clip_model.encode_text(tokenized_text), dim=-1)
for box in boxes:
x_min, y_min, x_max, y_max = map(int, box)
crop = transforms.functional.to_pil_image(image_tensor[:, y_min:y_max, x_min:x_max])
img_feat = F.normalize(self.clip_model.encode_image(self.clip_preprocess(crop).unsqueeze(0).to(self.device)), dim=-1)
sim = F.cosine_similarity(img_feat, text_feat).item()
if sim > max_sim:
max_sim, best_box = sim, box
return best_box, max_sim
def draw_boxes(self, img, boxes, labels):
for i, box in enumerate(boxes):
x_min, y_min, x_max, y_max = map(int, box)
cv2.rectangle(img, (x_min, y_min), (x_max, y_max), (0, 255, 0), 2)
if labels:
cv2.putText(img, labels[i], (x_min, y_min-10), cv2.FONT_HERSHEY_SIMPLEX, 0.8, (255, 0, 0), 2)
return img
def main(args=None):
rclpy.init(args=args)
node = ClipDetectionNode()
executor = MultiThreadedExecutor(num_threads=2)
executor.add_node(node)
try:
executor.spin()
except KeyboardInterrupt:
node.get_logger().info("KeyboardInterrupt received, shutting down...")
finally:
node.save_score_records()
executor.shutdown()
node.destroy_node()
if rclpy.ok():
rclpy.shutdown()
if __name__ == "__main__":
main()

34
build/vlm_perception_pkg/colcon_command_prefix_setup_py.sh.env
View File

@ -1,6 +1,8 @@
AMENT_PREFIX_PATH=/opt/ros/humble
AMENT_PREFIX_PATH=/workspace/install/vlm_perception_pkg:/workspace/install/vlm_nav_pkg:/workspace/install/turtlebot3_simulations:/workspace/install/turtlebot3_gazebo:/workspace/install/nav2_rrtstar_planner:/opt/ros/humble
CMAKE_PREFIX_PATH=/workspace/install/turtlebot3_simulations:/workspace/install/turtlebot3_gazebo:/workspace/install/nav2_rrtstar_planner
CODE_NO_PASSWORD=true
COLCON=1
COLCON_PREFIX_PATH=/workspace/install
DATA_PATH=/home/user/data
DATA_PATH_V2=/data
DESKTOP_MODE=auto
@ -8,7 +10,7 @@ DISPLAY=:1
DISPLAY_BACKEND=auto
ENABLE_CODE_SERVER=true
ENABLE_FILEBROWSER=false
ENABLE_FOXGLOVE=true
ENABLE_FOXGLOVE=false
ENABLE_GZWEB=true
ENABLE_ROSBRIDGE=true
ENABLE_TERMINAL=true
@ -16,25 +18,35 @@ ENABLE_VNC=true
FILEBROWSER_BASEURL=/file
GZWEB_APP_DIR=/opt/gzweb
GZWEB_PORT=8000
GZ_SIM_CACHE_PATH=/opt/gzsim/cache
GZ_SIM_RESOURCE_PATH=/workspace/models:/opt/gzsim/models:/workspace/models:/opt/gzsim/models:/workspace/models:/opt/gzsim/models:/usr/share/gz/gz-sim7/models
GZ_SIM_CACHE_PATH=/.gz/sim/cache
GZ_SIM_RESOURCE_PATH=/models:/workspace/models:/opt/gzsim/models:/models:/workspace/models:/opt/gzsim/models:/models:/workspace/models:/opt/gzsim/models:/usr/share/gz/gz-sim7/models
HOME=/home/devuser
INIT_SCRIPT=sed -i "/# pms-vendor-pythonpath/d;/export PYTHONPATH=\"/opt\/vendor\/python/d" /home/${USER:-devuser}/.bashrc 2>/dev/null || true
CONDA_ACTIVATE_D="${CONDA_PREFIX:-/opt/miniconda/envs/pms-py312}/etc/conda/activate.d"
if [ -d "$CONDA_ACTIVATE_D" ]; then
cat > "$CONDA_ACTIVATE_D/pms-vendor-pythonpath.sh" << 'PYEOF'
export PYTHONPATH="/opt/vendor/python:/opt/vendor/mjlab/src:/opt/vendor/mujoco_warp:/opt/vendor/demos/humanoid_skateboarding/src:$PYTHONPATH"
PYEOF
chmod +x "$CONDA_ACTIVATE_D/pms-vendor-pythonpath.sh"
fi
echo "# pms-vendor-pythonpath" >> /home/${USER:-devuser}/.bashrc
echo "export PYTHONPATH=\"/opt/vendor/python:/opt/vendor/mjlab/src:/opt/vendor/mujoco_warp:/opt/vendor/demos/humanoid_skateboarding/src:\$PYTHONPATH\"" >> /home/${USER:-devuser}/.bashrc
/workspace/autorun.sh
INIT_WORKSPACE=/workspace
LAUNCH_TYPE=EC2
LC_CTYPE=C.UTF-8
LD_LIBRARY_PATH=/usr/local/cuda/lib64:/usr/local/cuda/lib64:/usr/local/cuda/lib64:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib
LD_LIBRARY_PATH=/workspace/install/nav2_rrtstar_planner/lib:/usr/local/cuda/lib64:/usr/local/cuda/lib64:/usr/local/cuda/lib64:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib
LOGNAME=devuser
MAIL=/var/mail/devuser
OLDPWD=/workspace
PATH=/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/opt/ros/humble/bin:/usr/local/cuda/bin:/opt/TurboVNC/bin:/opt/node/bin:/opt/foundation/bin:/home/devuser/miniconda3/bin:/home/devuser/.local/bin
PATH=/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/opt/ros/humble/bin:/usr/local/cuda/bin:/opt/TurboVNC/bin:/opt/node/bin:/opt/foundation/bin
PMS_FOUNDATION_VARIANT=gpu
PMS_VNC_MODE=turbovnc
PS1=\[\e[32m\]\u@foundation\[\e[0m\]:\[\e[34m\]\w\[\e[0m\]$
PWD=/workspace/build/vlm_perception_pkg
PYTHONPATH=/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages
PYTHONNOUSERSITE=1
PYTHONPATH=/workspace/install/vlm_perception_pkg/lib/python3.10/site-packages:/workspace/install/vlm_nav_pkg/lib/python3.10/site-packages:/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages
ROS_DISTRO=humble
ROS_DOMAIN_ID=42
ROS_LOCALHOST_ONLY=0
@ -44,11 +56,11 @@ SHELL=/bin/bash
SHLVL=1
SINGLE_DESKTOP_APP=
SINGLE_DESKTOP_PRESET=
SPACE_DIR=/home/user/data/309844d858e5487f9c582ea361481b3d
SPACE_DIR_V2=/data/309844d858e5487f9c582ea361481b3d
SPACE_ID=309844d858e5487f9c582ea361481b3d
SPACE_DIR=/home/user/data/72f26183c345428ea9d80d3086449014
SPACE_DIR_V2=/data/72f26183c345428ea9d80d3086449014
SPACE_ID=72f26183c345428ea9d80d3086449014
USER=devuser
USER_ID=6950f1ca-1599-42c5-a926-29eb731cb95c
USER_ID=9dc62cab-cf4d-49b7-b349-349aef68e7b4
VNC_NO_PASSWORD=true
WORKSPACE=/workspace
_=/usr/bin/colcon

22
build/vlm_perception_pkg/install.log Normal file
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@ -0,0 +1,22 @@
/workspace/install/vlm_perception_pkg/lib/python3.10/site-packages/vlm_perception_pkg/__init__.py
/workspace/install/vlm_perception_pkg/lib/python3.10/site-packages/vlm_perception_pkg/device_utils.py
/workspace/install/vlm_perception_pkg/lib/python3.10/site-packages/vlm_perception_pkg/multi_waypoint_navigation.py
/workspace/install/vlm_perception_pkg/lib/python3.10/site-packages/vlm_perception_pkg/simple_detection.py
/workspace/install/vlm_perception_pkg/lib/python3.10/site-packages/vlm_perception_pkg/vlm_detection.py
/workspace/install/vlm_perception_pkg/lib/python3.10/site-packages/vlm_perception_pkg/__pycache__/__init__.cpython-310.pyc
/workspace/install/vlm_perception_pkg/lib/python3.10/site-packages/vlm_perception_pkg/__pycache__/device_utils.cpython-310.pyc
/workspace/install/vlm_perception_pkg/lib/python3.10/site-packages/vlm_perception_pkg/__pycache__/multi_waypoint_navigation.cpython-310.pyc
/workspace/install/vlm_perception_pkg/lib/python3.10/site-packages/vlm_perception_pkg/__pycache__/simple_detection.cpython-310.pyc
/workspace/install/vlm_perception_pkg/lib/python3.10/site-packages/vlm_perception_pkg/__pycache__/vlm_detection.cpython-310.pyc
/workspace/install/vlm_perception_pkg/share/ament_index/resource_index/packages/vlm_perception_pkg
/workspace/install/vlm_perception_pkg/share/vlm_perception_pkg/package.xml
/workspace/install/vlm_perception_pkg/lib/python3.10/site-packages/vlm_perception_pkg-0.0.0-py3.10.egg-info/PKG-INFO
/workspace/install/vlm_perception_pkg/lib/python3.10/site-packages/vlm_perception_pkg-0.0.0-py3.10.egg-info/SOURCES.txt
/workspace/install/vlm_perception_pkg/lib/python3.10/site-packages/vlm_perception_pkg-0.0.0-py3.10.egg-info/dependency_links.txt
/workspace/install/vlm_perception_pkg/lib/python3.10/site-packages/vlm_perception_pkg-0.0.0-py3.10.egg-info/entry_points.txt
/workspace/install/vlm_perception_pkg/lib/python3.10/site-packages/vlm_perception_pkg-0.0.0-py3.10.egg-info/requires.txt
/workspace/install/vlm_perception_pkg/lib/python3.10/site-packages/vlm_perception_pkg-0.0.0-py3.10.egg-info/top_level.txt
/workspace/install/vlm_perception_pkg/lib/python3.10/site-packages/vlm_perception_pkg-0.0.0-py3.10.egg-info/zip-safe
/workspace/install/vlm_perception_pkg/lib/vlm_perception_pkg/multi_waypoint_navigation
/workspace/install/vlm_perception_pkg/lib/vlm_perception_pkg/simple_detection
/workspace/install/vlm_perception_pkg/lib/vlm_perception_pkg/vlm_detection

1
build/vlm_perception_pkg/package.xml
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@ -1 +0,0 @@
/workspace/src/vlm_perception_pkg/package.xml

BIN
build/vlm_perception_pkg/prefix_override/__pycache__/sitecustomize.cpython-310.pyc
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Binary file not shown.

1
build/vlm_perception_pkg/resource/vlm_perception_pkg
View File

@ -1 +0,0 @@
/workspace/src/vlm_perception_pkg/resource/vlm_perception_pkg

1
build/vlm_perception_pkg/setup.cfg
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@ -1 +0,0 @@
/workspace/src/vlm_perception_pkg/setup.cfg

1
build/vlm_perception_pkg/setup.py
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@ -1 +0,0 @@
/workspace/src/vlm_perception_pkg/setup.py

1
build/vlm_perception_pkg/share/vlm_perception_pkg/hook/pythonpath_develop.dsv
View File

@ -1 +0,0 @@
prepend-non-duplicate;PYTHONPATH;/workspace/build/vlm_perception_pkg

3
build/vlm_perception_pkg/share/vlm_perception_pkg/hook/pythonpath_develop.ps1
View File

@ -1,3 +0,0 @@
# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
colcon_prepend_unique_value PYTHONPATH "$env:COLCON_CURRENT_PREFIX//workspace/build/vlm_perception_pkg"

3
build/vlm_perception_pkg/share/vlm_perception_pkg/hook/pythonpath_develop.sh
View File

@ -1,3 +0,0 @@
# generated from colcon_core/shell/template/hook_prepend_value.sh.em
_colcon_prepend_unique_value PYTHONPATH "/workspace/build/vlm_perception_pkg"

1
build/vlm_perception_pkg/vlm_perception_pkg
View File

@ -1 +0,0 @@
/workspace/src/vlm_perception_pkg/vlm_perception_pkg

1
build/vlm_perception_pkg/vlm_perception_pkg.egg-info/PKG-INFO
View File

@ -7,6 +7,7 @@ Maintainer: ariel
Maintainer-email: bhu16300@gmail.com
License: Apache-2.0
Platform: UNKNOWN
License-File: LICENSE
UNKNOWN

20
build/vlm_perception_pkg/vlm_perception_pkg.egg-info/SOURCES.txt
View File

@ -1,16 +1,20 @@
LICENSE
package.xml
setup.cfg
setup.py
../../build/vlm_perception_pkg/vlm_perception_pkg.egg-info/PKG-INFO
../../build/vlm_perception_pkg/vlm_perception_pkg.egg-info/SOURCES.txt
../../build/vlm_perception_pkg/vlm_perception_pkg.egg-info/dependency_links.txt
../../build/vlm_perception_pkg/vlm_perception_pkg.egg-info/entry_points.txt
../../build/vlm_perception_pkg/vlm_perception_pkg.egg-info/requires.txt
../../build/vlm_perception_pkg/vlm_perception_pkg.egg-info/top_level.txt
../../build/vlm_perception_pkg/vlm_perception_pkg.egg-info/zip-safe
resource/vlm_perception_pkg
test/test_copyright.py
test/test_flake8.py
test/test_pep257.py
vlm_perception_pkg/__init__.py
vlm_perception_pkg/device_utils.py
vlm_perception_pkg/multi_waypoint_navigation.py
vlm_perception_pkg/simple_detection.py
vlm_perception_pkg/vlm_detection.py
vlm_perception_pkg.egg-info/PKG-INFO
vlm_perception_pkg.egg-info/SOURCES.txt
vlm_perception_pkg.egg-info/dependency_links.txt
vlm_perception_pkg.egg-info/entry_points.txt
vlm_perception_pkg.egg-info/requires.txt
vlm_perception_pkg.egg-info/top_level.txt
vlm_perception_pkg.egg-info/zip-safe
vlm_perception_pkg/vlm_detection.py

1
install/nav2_rrtstar_planner/include/nav2_rrtstar_planner/rrtstar_planner.hpp
View File

@ -1 +0,0 @@
/workspace/src/TurtleBot-RRT-Star/include/nav2_rrtstar_planner/rrtstar_planner.hpp

60
install/nav2_rrtstar_planner/include/nav2_rrtstar_planner/rrtstar_planner.hpp Normal file
View File

@ -0,0 +1,60 @@
#ifndef NAV2_RRTSTAR_PLANNER__RRTSTAR_PLANNER_HPP_
#define NAV2_RRTSTAR_PLANNER__RRTSTAR_PLANNER_HPP_
#include <string>
#include <memory>
#include <vector>
#include "rclcpp/rclcpp.hpp"
#include "nav2_core/global_planner.hpp"
#include "nav2_costmap_2d/costmap_2d_ros.hpp"
#include "tf2_ros/buffer.h"
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "nav_msgs/msg/path.hpp"
namespace nav2_rrtstar_planner {
struct Vertex {
double x, y, cost;
Vertex* parent;
Vertex(double x_val, double y_val, Vertex* p = nullptr, double travel_distance = 0) :
x(x_val), y(y_val), parent(p), cost(travel_distance) {}
};
class RRTStar : public nav2_core::GlobalPlanner {
public:
RRTStar() = default;
~RRTStar() override = default;
void configure(const rclcpp_lifecycle::LifecycleNode::WeakPtr& parent,
std::string name, std::shared_ptr<tf2_ros::Buffer> tf,
std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros) override;
void cleanup() override;
void activate() override;
void deactivate() override;
nav_msgs::msg::Path createPlan(const geometry_msgs::msg::PoseStamped& start,
const geometry_msgs::msg::PoseStamped& goal) override;
protected:
std::shared_ptr<tf2_ros::Buffer> tf_;
nav2_util::LifecycleNode::SharedPtr node_;
nav2_costmap_2d::Costmap2D* costmap_;
std::string global_frame_;
std::string name_;
int max_iterations_;
double interpolation_resolution_;
std::vector<std::unique_ptr<Vertex>> tree_;
double ball_radius_constant_;
double calculate_distance(double x, double y, const Vertex& vertex);
Vertex* nearest_neighbor(double x, double y);
bool connectible(const Vertex& start, const Vertex& end);
void calculateBallRadiusConstant();
double calculateBallRadius(int tree_size, int dimensions, double max_connection_distance);
std::vector<int> findVerticesInsideCircle(double center_x, double center_y, double radius);
double calculate_cost_from_start(const Vertex& vertex);
};
} // namespace nav2_rrtstar_planner
#endif // NAV2_RRTSTAR_PLANNER__RRTSTAR_PLANNER_HPP_

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