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Pull request #11: ROS2 update for Processor's Robotics SDK

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Merge in MITL/mmwave_ti_ros from ros2_update_robotics_sdk to master

* commit 'be917505ac457309c8b85002cf3384fabc6cb1b2':
  [ros2_driver/ti_mmwave_rospkg] Updated the launch files and the rviz file. - Added a common launch file IWR6843.py for all the IWR6843x launch files. - CLI config file, command port, and data port can passed at the command line with launch arguments. For example, below is equivalent to '6843ISK_Tracking.py':   ros2 launch ti_mmwave_rospkg IWR6843.py cfg_file:=6843ISK_Tracking.cfg - 6843{ISK,AOP}_{Standard,Tracking,Occupancy}.py now call the common launch file. - Updated the rviz file to display the XYZ axes.
  [ros2_driver/ti_mmwave_rospkg_msgs] Updated to use the standard header message, std_msgs/Header. Note that "seq" field in the header was deprecated in ROS 2.
  [ros2_driver] Removed ti_mmwave_rospkg/src/{build, install, log} folders.
This commit is contained in:
JuneChul Roh
2024-03-12 19:27:34 -05:00
committed by Pedrhom Nafisi
parent b22c41cbb6 be917505ac
commit 3cfb96e29d
40 changed files with 338 additions and 2211 deletions
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68
ros2_driver/src/ti_mmwave_rospkg/include/DataHandlerClass.h
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@@ -26,8 +26,8 @@
#define COUNT_SYNC_MAX 2
class DataUARTHandlerNode : public rclcpp::Node
{
class DataUARTHandlerNode : public rclcpp::Node
{
public:
explicit DataUARTHandlerNode();
@@ -39,40 +39,40 @@ private:
class DataUARTHandler
{
public:
//DataUARTHandler();
DataUARTHandler(std::shared_ptr<rclcpp::Node> nh);
void setFrameID(char const* myFrameID);
/*User callable function to set the UARTPort*/
void setUARTPort(char const* mySerialPort);
/*User callable function to set the BaudRate*/
void setBaudRate(int myBaudRate);
/*User callable function to set maxAllowedElevationAngleDeg*/
void setMaxAllowedElevationAngleDeg(int myMaxAllowedElevationAngleDeg);
/*User callable function to set maxAllowedElevationAngleDeg*/
void setMaxAllowedAzimuthAngleDeg(int myMaxAllowedAzimuthAngleDeg);
void setNodeHandle(std::shared_ptr<rclcpp::Node> nh);
// void setNodeHandle(std::shared_ptr<rclcpp::Node> nh);
/*User callable function to start the handler's internal threads*/
void start(void);
/*User callable function to stop the handler's internal threads*/
void stop();
/*Helper functions to allow pthread compatability*/
static void* readIncomingData_helper(void *context);
static void* sortIncomingData_helper(void *context);
static void* syncedBufferSwap_helper(void *context);
/* Function to handle signals such as SIGINT */
@@ -81,7 +81,7 @@ public:
/*Sorted mmwDemo Data structure*/
mmwDataPacket mmwData;
rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr DataUARTHandler_pub;
rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr radar_scan_pcl_pub;
rclcpp::Publisher<ti_mmwave_rospkg_msgs::msg::RadarScan>::SharedPtr radar_scan_pub;
rclcpp::Publisher<ti_mmwave_rospkg_msgs::msg::RadarOccupancy>::SharedPtr radar_occupancy_pub;
rclcpp::Publisher<ti_mmwave_rospkg_msgs::msg::RadarPointTrackID>::SharedPtr radar_trackid_pub;
@@ -112,64 +112,64 @@ private:
char const* frameID;
/*Contains the name of the serial port*/
char const* dataSerialPort;
/*Contains the baud Rate*/
int dataBaudRate;
/*Contains the max_allowed_elevation_angle_deg (points with elevation angles
/*Contains the max_allowed_elevation_angle_deg (points with elevation angles
outside +/- max_allowed_elevation_angle_deg will be removed)*/
int maxAllowedElevationAngleDeg;
/*Contains the max_allowed_azimuth_angle_deg (points with azimuth angles
/*Contains the max_allowed_azimuth_angle_deg (points with azimuth angles
outside +/- max_allowed_azimuth_angle_deg will be removed)*/
int maxAllowedAzimuthAngleDeg;
/*Mutex protected variable which synchronizes threads*/
int countSync;
/*Boolean used to notify threads to exit*/
bool stop_threads;
/*Read/Write Buffers*/
std::vector<uint8_t> pingPongBuffers[2];
/*Pointer to current data (sort)*/
std::vector<uint8_t>* currentBufp;
/*Pointer to new data (read)*/
std::vector<uint8_t>* nextBufp;
/*Mutex protecting the countSync variable */
pthread_mutex_t countSync_mutex;
/*Mutex protecting the nextBufp pointer*/
pthread_mutex_t nextBufp_mutex;
/*Mutex protecting the currentBufp pointer*/
pthread_mutex_t currentBufp_mutex;
/*Condition variable which blocks the Swap Thread until signaled*/
pthread_cond_t countSync_max_cv;
/*Condition variable which blocks the Read Thread until signaled*/
pthread_cond_t read_go_cv;
/*Condition variable which blocks the Sort Thread until signaled*/
pthread_cond_t sort_go_cv;
/*Swap Buffer Pointers Thread*/
void *syncedBufferSwap(void);
/*Checks if the magic word was found*/
int isMagicWord(uint8_t last8Bytes[8]);
/*Read incoming UART Data Thread*/
void *readIncomingData(void);
/*Sort incoming UART Data Thread*/
void *sortIncomingData(void);
rclcpp::Node::SharedPtr nodeHandle;
};
#endif
#endif

119
ros2_driver/src/ti_mmwave_rospkg/launch/6843AOP_Standard.py
View File

@@ -1,118 +1,29 @@
import os
from launch import LaunchDescription, conditions
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.actions import IncludeLaunchDescription
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
from launch.launch_description_sources import PythonLaunchDescriptionSource
from ament_index_python.packages import get_package_share_directory
def generate_launch_description():
# Declare the launch argument
rviz_arg = DeclareLaunchArgument(
'rviz',
default_value='true',
description='Enable RViz'
)
rviz_arg = DeclareLaunchArgument('rviz', default_value='true', description='Enable RViz')
# Use the launch argument in the condition for adding the RViz node
rviz_enabled = LaunchConfiguration('rviz')
# Enter Path and Name Here
my_package_dir = get_package_share_directory('ti_mmwave_rospkg')
path = os.path.join(my_package_dir,'cfg','6843AOP_Standard.cfg')
device = "6843"
name = "/mmWaveCLI"
command_port = "/dev/ttyUSB0"
command_rate = "115200"
data_port = "/dev/ttyUSB1"
data_rate = "921600"
ConfigParameters = os.path.join(
my_package_dir,
'config',
'global_params.yaml',
'launch/*.rviz'
)
global_param_node = Node(
package='ti_mmwave_rospkg',
executable='ConfigParameterServer',
name='ConfigParameterServer',
parameters=[ConfigParameters]
)
mmWaveCommSrv = Node(
package="ti_mmwave_rospkg",
executable="mmWaveCommSrv",
name="mmWaveCommSrv",
output="screen",
emulate_tty=True,
parameters=[
{"command_port": command_port},
{"command_rate": command_rate},
{"data_port": data_port},
{"data_rate": data_rate},
{"max_allowed_elevation_angle_deg": "90"},
{"max_allowed_azimuth_angle_deg": "90"},
{"frame_id": "/ti_mmwave_0"},
{"mmwavecli_name": name},
{"mmwavecli_cfg": path}
]
)
mmWaveQuickConfig = Node(
package="ti_mmwave_rospkg",
executable="mmWaveQuickConfig",
name="mmWaveQuickConfig",
output="screen",
emulate_tty=True,
parameters=[
{"mmwavecli_name": name},
{"mmwavecli_cfg": path}
]
)
ParameterParser = Node(
package="ti_mmwave_rospkg",
executable="ParameterParser",
name="ParameterParser",
output="screen",
emulate_tty=True,
parameters=[
{"device_name": device},
{"mmwavecli_name": name},
{"mmwavecli_cfg": path}
]
)
DataHandlerClass = Node(
package="ti_mmwave_rospkg",
executable="DataHandlerClass",
name="DataHandlerClass",
output="screen",
emulate_tty=True,
parameters=[
{"mmwavecli_name": name},
{"mmwavecli_cfg": path},
{"data_port": data_port},
{"data_rate": data_rate}
]
)
Rviz2 = Node(
package='rviz2',
executable='rviz2',
arguments=['-d', os.path.join(my_package_dir, 'launch', 'rviz.rviz')],
condition=conditions.IfCondition(rviz_enabled) # only launch RViz if the argument is true
# include IWR6843.py
package_dir = get_package_share_directory('ti_mmwave_rospkg')
iwr6843_include = IncludeLaunchDescription(
PythonLaunchDescriptionSource(os.path.join(package_dir,'launch','IWR6843.py')),
launch_arguments={
"cfg_file": '6843AOP_Standard.cfg',
"command_port": "/dev/ttyUSB0",
"data_port": "/dev/ttyUSB1",
"rviz": LaunchConfiguration('rviz'),
}.items()
)
ld = LaunchDescription()
ld.add_action(rviz_arg)
ld.add_action(global_param_node)
ld.add_action(mmWaveCommSrv)
ld.add_action(mmWaveQuickConfig)
ld.add_action(ParameterParser)
ld.add_action(DataHandlerClass)
ld.add_action(Rviz2)
ld.add_action(iwr6843_include)
return ld

119
ros2_driver/src/ti_mmwave_rospkg/launch/6843AOP_Tracking.py
View File

@@ -1,118 +1,29 @@
import os
from launch import LaunchDescription, conditions
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.actions import IncludeLaunchDescription
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
from launch.launch_description_sources import PythonLaunchDescriptionSource
from ament_index_python.packages import get_package_share_directory
def generate_launch_description():
# Declare the launch argument
rviz_arg = DeclareLaunchArgument(
'rviz',
default_value='true',
description='Enable RViz'
)
rviz_arg = DeclareLaunchArgument('rviz', default_value='true', description='Enable RViz')
# Use the launch argument in the condition for adding the RViz node
rviz_enabled = LaunchConfiguration('rviz')
# Enter Path and Name Here
my_package_dir = get_package_share_directory('ti_mmwave_rospkg')
path = os.path.join(my_package_dir,'cfg','6843AOP_Tracking.cfg')
device = "6843"
name = "/mmWaveCLI"
command_port = "/dev/ttyUSB0"
command_rate = "115200"
data_port = "/dev/ttyUSB1"
data_rate = "921600"
ConfigParameters = os.path.join(
my_package_dir,
'config',
'global_params.yaml',
'launch/*.rviz'
)
global_param_node = Node(
package='ti_mmwave_rospkg',
executable='ConfigParameterServer',
name='ConfigParameterServer',
parameters=[ConfigParameters]
)
mmWaveCommSrv = Node(
package="ti_mmwave_rospkg",
executable="mmWaveCommSrv",
name="mmWaveCommSrv",
output="screen",
emulate_tty=True,
parameters=[
{"command_port": command_port},
{"command_rate": command_rate},
{"data_port": data_port},
{"data_rate": data_rate},
{"max_allowed_elevation_angle_deg": "90"},
{"max_allowed_azimuth_angle_deg": "90"},
{"frame_id": "/ti_mmwave_0"},
{"mmwavecli_name": name},
{"mmwavecli_cfg": path}
]
)
mmWaveQuickConfig = Node(
package="ti_mmwave_rospkg",
executable="mmWaveQuickConfig",
name="mmWaveQuickConfig",
output="screen",
emulate_tty=True,
parameters=[
{"mmwavecli_name": name},
{"mmwavecli_cfg": path}
]
)
ParameterParser = Node(
package="ti_mmwave_rospkg",
executable="ParameterParser",
name="ParameterParser",
output="screen",
emulate_tty=True,
parameters=[
{"device_name": device},
{"mmwavecli_name": name},
{"mmwavecli_cfg": path}
]
)
DataHandlerClass = Node(
package="ti_mmwave_rospkg",
executable="DataHandlerClass",
name="DataHandlerClass",
output="screen",
emulate_tty=True,
parameters=[
{"mmwavecli_name": name},
{"mmwavecli_cfg": path},
{"data_port": data_port},
{"data_rate": data_rate}
]
)
Rviz2 = Node(
package='rviz2',
executable='rviz2',
arguments=['-d', os.path.join(my_package_dir, 'launch', 'rviz.rviz')],
condition=conditions.IfCondition(rviz_enabled) # only launch RViz if the argument is true
# include IWR6843.py
package_dir = get_package_share_directory('ti_mmwave_rospkg')
iwr6843_include = IncludeLaunchDescription(
PythonLaunchDescriptionSource(os.path.join(package_dir,'launch','IWR6843.py')),
launch_arguments={
"cfg_file": '6843AOP_Tracking.cfg',
"command_port": "/dev/ttyUSB0",
"data_port": "/dev/ttyUSB1",
"rviz": LaunchConfiguration('rviz'),
}.items()
)
ld = LaunchDescription()
ld.add_action(rviz_arg)
ld.add_action(global_param_node)
ld.add_action(mmWaveCommSrv)
ld.add_action(mmWaveQuickConfig)
ld.add_action(ParameterParser)
ld.add_action(DataHandlerClass)
ld.add_action(Rviz2)
ld.add_action(iwr6843_include)
return ld

119
ros2_driver/src/ti_mmwave_rospkg/launch/6843ISK_Occupancy.py
View File

@@ -1,118 +1,29 @@
import os
from launch import LaunchDescription, conditions
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.actions import IncludeLaunchDescription
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
from launch.launch_description_sources import PythonLaunchDescriptionSource
from ament_index_python.packages import get_package_share_directory
def generate_launch_description():
# Declare the launch argument
rviz_arg = DeclareLaunchArgument(
'rviz',
default_value='true',
description='Enable RViz'
)
rviz_arg = DeclareLaunchArgument('rviz', default_value='true', description='Enable RViz')
# Use the launch argument in the condition for adding the RViz node
rviz_enabled = LaunchConfiguration('rviz')
# Enter Path and Name Here
my_package_dir = get_package_share_directory('ti_mmwave_rospkg')
path = os.path.join(my_package_dir,'cfg','6843ISK_Occupancy.cfg')
device = "6843"
name = "/mmWaveCLI"
command_port = "/dev/ttyUSB0"
command_rate = "115200"
data_port = "/dev/ttyUSB1"
data_rate = "921600"
ConfigParameters = os.path.join(
my_package_dir,
'config',
'global_params.yaml',
'launch/*.rviz'
)
global_param_node = Node(
package='ti_mmwave_rospkg',
executable='ConfigParameterServer',
name='ConfigParameterServer',
parameters=[ConfigParameters]
)
mmWaveCommSrv = Node(
package="ti_mmwave_rospkg",
executable="mmWaveCommSrv",
name="mmWaveCommSrv",
output="screen",
emulate_tty=True,
parameters=[
{"command_port": command_port},
{"command_rate": command_rate},
{"data_port": data_port},
{"data_rate": data_rate},
{"max_allowed_elevation_angle_deg": "90"},
{"max_allowed_azimuth_angle_deg": "90"},
{"frame_id": "/ti_mmwave_0"},
{"mmwavecli_name": name},
{"mmwavecli_cfg": path}
]
)
mmWaveQuickConfig = Node(
package="ti_mmwave_rospkg",
executable="mmWaveQuickConfig",
name="mmWaveQuickConfig",
output="screen",
emulate_tty=True,
parameters=[
{"mmwavecli_name": name},
{"mmwavecli_cfg": path}
]
)
ParameterParser = Node(
package="ti_mmwave_rospkg",
executable="ParameterParser",
name="ParameterParser",
output="screen",
emulate_tty=True,
parameters=[
{"device_name": device},
{"mmwavecli_name": name},
{"mmwavecli_cfg": path}
]
)
DataHandlerClass = Node(
package="ti_mmwave_rospkg",
executable="DataHandlerClass",
name="DataHandlerClass",
output="screen",
emulate_tty=True,
parameters=[
{"mmwavecli_name": name},
{"mmwavecli_cfg": path},
{"data_port": data_port},
{"data_rate": data_rate}
]
)
Rviz2 = Node(
package='rviz2',
executable='rviz2',
arguments=['-d', os.path.join(my_package_dir, 'launch', 'rviz.rviz')],
condition=conditions.IfCondition(rviz_enabled) # only launch RViz if the argument is true
# include IWR6843.py
package_dir = get_package_share_directory('ti_mmwave_rospkg')
iwr6843_include = IncludeLaunchDescription(
PythonLaunchDescriptionSource(os.path.join(package_dir,'launch','IWR6843.py')),
launch_arguments={
"cfg_file": '6843ISK_Occupancy.cfg',
"command_port": "/dev/ttyUSB0",
"data_port": "/dev/ttyUSB1",
"rviz": LaunchConfiguration('rviz'),
}.items()
)
ld = LaunchDescription()
ld.add_action(rviz_arg)
ld.add_action(global_param_node)
ld.add_action(mmWaveCommSrv)
ld.add_action(mmWaveQuickConfig)
ld.add_action(ParameterParser)
ld.add_action(DataHandlerClass)
ld.add_action(Rviz2)
ld.add_action(iwr6843_include)
return ld

119
ros2_driver/src/ti_mmwave_rospkg/launch/6843ISK_Standard.py
View File

@@ -1,118 +1,29 @@
import os
from launch import LaunchDescription, conditions
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.actions import IncludeLaunchDescription
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
from launch.launch_description_sources import PythonLaunchDescriptionSource
from ament_index_python.packages import get_package_share_directory
def generate_launch_description():
# Declare the launch argument
rviz_arg = DeclareLaunchArgument(
'rviz',
default_value='true',
description='Enable RViz'
)
rviz_arg = DeclareLaunchArgument('rviz', default_value='true', description='Enable RViz')
# Use the launch argument in the condition for adding the RViz node
rviz_enabled = LaunchConfiguration('rviz')
# Enter Path and Name Here
my_package_dir = get_package_share_directory('ti_mmwave_rospkg')
path = os.path.join(my_package_dir,'cfg','6843ISK_Standard.cfg')
device = "6843"
name = "/mmWaveCLI"
command_port = "/dev/ttyUSB0"
command_rate = "115200"
data_port = "/dev/ttyUSB1"
data_rate = "921600"
ConfigParameters = os.path.join(
my_package_dir,
'config',
'global_params.yaml',
'launch/*.rviz'
)
global_param_node = Node(
package='ti_mmwave_rospkg',
executable='ConfigParameterServer',
name='ConfigParameterServer',
parameters=[ConfigParameters]
)
mmWaveCommSrv = Node(
package="ti_mmwave_rospkg",
executable="mmWaveCommSrv",
name="mmWaveCommSrv",
output="screen",
emulate_tty=True,
parameters=[
{"command_port": command_port},
{"command_rate": command_rate},
{"data_port": data_port},
{"data_rate": data_rate},
{"max_allowed_elevation_angle_deg": "90"},
{"max_allowed_azimuth_angle_deg": "90"},
{"frame_id": "/ti_mmwave_0"},
{"mmwavecli_name": name},
{"mmwavecli_cfg": path}
]
)
mmWaveQuickConfig = Node(
package="ti_mmwave_rospkg",
executable="mmWaveQuickConfig",
name="mmWaveQuickConfig",
output="screen",
emulate_tty=True,
parameters=[
{"mmwavecli_name": name},
{"mmwavecli_cfg": path}
]
)
ParameterParser = Node(
package="ti_mmwave_rospkg",
executable="ParameterParser",
name="ParameterParser",
output="screen",
emulate_tty=True,
parameters=[
{"device_name": device},
{"mmwavecli_name": name},
{"mmwavecli_cfg": path}
]
)
DataHandlerClass = Node(
package="ti_mmwave_rospkg",
executable="DataHandlerClass",
name="DataHandlerClass",
output="screen",
emulate_tty=True,
parameters=[
{"mmwavecli_name": name},
{"mmwavecli_cfg": path},
{"data_port": data_port},
{"data_rate": data_rate}
]
)
Rviz2 = Node(
package='rviz2',
executable='rviz2',
arguments=['-d', os.path.join(my_package_dir, 'launch', 'rviz.rviz')],
condition=conditions.IfCondition(rviz_enabled) # only launch RViz if the argument is true
# include IWR6843.py
package_dir = get_package_share_directory('ti_mmwave_rospkg')
iwr6843_include = IncludeLaunchDescription(
PythonLaunchDescriptionSource(os.path.join(package_dir,'launch','IWR6843.py')),
launch_arguments={
"cfg_file": '6843ISK_Standard.cfg',
"command_port": "/dev/ttyUSB0",
"data_port": "/dev/ttyUSB1",
"rviz": LaunchConfiguration('rviz'),
}.items()
)
ld = LaunchDescription()
ld.add_action(rviz_arg)
ld.add_action(global_param_node)
ld.add_action(mmWaveCommSrv)
ld.add_action(mmWaveQuickConfig)
ld.add_action(ParameterParser)
ld.add_action(DataHandlerClass)
ld.add_action(Rviz2)
ld.add_action(iwr6843_include)
return ld

119
ros2_driver/src/ti_mmwave_rospkg/launch/6843ISK_Tracking.py
View File

@@ -1,118 +1,29 @@
import os
from launch import LaunchDescription, conditions
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.actions import IncludeLaunchDescription
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
from launch.launch_description_sources import PythonLaunchDescriptionSource
from ament_index_python.packages import get_package_share_directory
def generate_launch_description():
# Declare the launch argument
rviz_arg = DeclareLaunchArgument(
'rviz',
default_value='true',
description='Enable RViz'
)
rviz_arg = DeclareLaunchArgument('rviz', default_value='true', description='Enable RViz')
# Use the launch argument in the condition for adding the RViz node
rviz_enabled = LaunchConfiguration('rviz')
# Enter Path and Name Here
my_package_dir = get_package_share_directory('ti_mmwave_rospkg')
path = os.path.join(my_package_dir,'cfg','6843ISK_Tracking.cfg')
device = "6843"
name = "/mmWaveCLI"
command_port = "/dev/ttyUSB0"
command_rate = "115200"
data_port = "/dev/ttyUSB1"
data_rate = "921600"
ConfigParameters = os.path.join(
my_package_dir,
'config',
'global_params.yaml',
'launch/*.rviz'
)
global_param_node = Node(
package='ti_mmwave_rospkg',
executable='ConfigParameterServer',
name='ConfigParameterServer',
parameters=[ConfigParameters]
)
mmWaveCommSrv = Node(
package="ti_mmwave_rospkg",
executable="mmWaveCommSrv",
name="mmWaveCommSrv",
output="screen",
emulate_tty=True,
parameters=[
{"command_port": command_port},
{"command_rate": command_rate},
{"data_port": data_port},
{"data_rate": data_rate},
{"max_allowed_elevation_angle_deg": "90"},
{"max_allowed_azimuth_angle_deg": "90"},
{"frame_id": "/ti_mmwave_0"},
{"mmwavecli_name": name},
{"mmwavecli_cfg": path}
]
)
mmWaveQuickConfig = Node(
package="ti_mmwave_rospkg",
executable="mmWaveQuickConfig",
name="mmWaveQuickConfig",
output="screen",
emulate_tty=True,
parameters=[
{"mmwavecli_name": name},
{"mmwavecli_cfg": path}
]
)
ParameterParser = Node(
package="ti_mmwave_rospkg",
executable="ParameterParser",
name="ParameterParser",
output="screen",
emulate_tty=True,
parameters=[
{"device_name": device},
{"mmwavecli_name": name},
{"mmwavecli_cfg": path}
]
)
DataHandlerClass = Node(
package="ti_mmwave_rospkg",
executable="DataHandlerClass",
name="DataHandlerClass",
output="screen",
emulate_tty=True,
parameters=[
{"mmwavecli_name": name},
{"mmwavecli_cfg": path},
{"data_port": data_port},
{"data_rate": data_rate}
]
)
Rviz2 = Node(
package='rviz2',
executable='rviz2',
arguments=['-d', os.path.join(my_package_dir, 'launch', 'rviz.rviz')],
condition=conditions.IfCondition(rviz_enabled) # only launch RViz if the argument is true
# include IWR6843.py
package_dir = get_package_share_directory('ti_mmwave_rospkg')
iwr6843_include = IncludeLaunchDescription(
PythonLaunchDescriptionSource(os.path.join(package_dir,'launch','IWR6843.py')),
launch_arguments={
"cfg_file": '6843ISK_Tracking.cfg',
"command_port": "/dev/ttyUSB0",
"data_port": "/dev/ttyUSB1",
"rviz": LaunchConfiguration('rviz'),
}.items()
)
ld = LaunchDescription()
ld.add_action(rviz_arg)
ld.add_action(global_param_node)
ld.add_action(mmWaveCommSrv)
ld.add_action(mmWaveQuickConfig)
ld.add_action(ParameterParser)
ld.add_action(DataHandlerClass)
ld.add_action(Rviz2)
ld.add_action(iwr6843_include)
return ld

131
ros2_driver/src/ti_mmwave_rospkg/launch/IWR6843.py Normal file
View File

@@ -0,0 +1,131 @@
import os
from launch import LaunchDescription, conditions
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
from ament_index_python.packages import get_package_share_directory
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
def generate_launch_description():
# Declare the launch argument
cfg_file_arg = DeclareLaunchArgument(
'cfg_file',
default_value='6843ISK_Tracking.cfg'
)
command_port_arg = DeclareLaunchArgument(
'command_port',
default_value='/dev/ttyUSB0'
)
data_port_arg = DeclareLaunchArgument(
'data_port',
default_value='/dev/ttyUSB1'
)
rviz_arg = DeclareLaunchArgument(
'rviz',
default_value='true',
description='Enable RViz'
)
# Use the launch argument in the condition for adding the RViz node
rviz_enabled = LaunchConfiguration('rviz')
# Enter Path and Name Here
my_package_dir = get_package_share_directory('ti_mmwave_rospkg')
cfg_file = LaunchConfiguration("cfg_file")
mmwavecli_cfg_path = PathJoinSubstitution([my_package_dir, 'cfg', cfg_file])
device = "6843"
name = "/mmWaveCLI"
command_port = LaunchConfiguration("command_port")
command_rate = "115200"
data_port = LaunchConfiguration("data_port")
data_rate = "921600"
ConfigParameters = os.path.join(
my_package_dir,
'config',
'global_params.yaml',
'launch/*.rviz'
)
global_param_node = Node(
package='ti_mmwave_rospkg',
executable='ConfigParameterServer',
name='ConfigParameterServer',
parameters=[ConfigParameters]
)
mmWaveCommSrv = Node(
package="ti_mmwave_rospkg",
executable="mmWaveCommSrv",
name="mmWaveCommSrv",
output="screen",
emulate_tty=True,
parameters=[
{"command_port": command_port},
{"command_rate": command_rate},
]
)
mmWaveQuickConfig = Node(
package="ti_mmwave_rospkg",
executable="mmWaveQuickConfig",
name="mmWaveQuickConfig",
output="screen",
emulate_tty=True,
parameters=[
{"mmwavecli_cfg": mmwavecli_cfg_path}
]
)
ParameterParser = Node(
package="ti_mmwave_rospkg",
executable="ParameterParser",
name="ParameterParser",
output="screen",
emulate_tty=True,
parameters=[
{"device_name": device},
{"mmwavecli_cfg": mmwavecli_cfg_path}
]
)
DataHandlerClass = Node(
package="ti_mmwave_rospkg",
executable="DataHandlerClass",
name="DataHandlerClass",
output="screen",
emulate_tty=True,
parameters=[
{"data_port": data_port},
{"data_rate": data_rate},
{"max_allowed_elevation_angle_deg": 90},
{"max_allowed_azimuth_angle_deg": 90},
{"frame_id": "ti_mmwave_0"}
]
)
Rviz2 = Node(
package='rviz2',
executable='rviz2',
arguments=['-d', os.path.join(my_package_dir, 'launch', 'rviz.rviz')],
condition=conditions.IfCondition(rviz_enabled) # only launch RViz if the argument is true
)
ld = LaunchDescription()
ld.add_action(cfg_file_arg)
ld.add_action(command_port_arg)
ld.add_action(data_port_arg)
ld.add_action(rviz_arg)
ld.add_action(global_param_node)
ld.add_action(mmWaveCommSrv)
ld.add_action(mmWaveQuickConfig)
ld.add_action(ParameterParser)
ld.add_action(DataHandlerClass)
ld.add_action(Rviz2)
return ld

18
ros2_driver/src/ti_mmwave_rospkg/launch/rviz.rviz
View File

@@ -7,8 +7,9 @@ Panels:
- /Global Options1
- /Status1
- /PointCloud21
- /Axes1
Splitter Ratio: 0.5
Tree Height: 549
Tree Height: 555
- Class: rviz_common/Selection
Name: Selection
- Class: rviz_common/Tool Properties
@@ -63,9 +64,9 @@ Visualization Manager:
Enabled: true
Invert Rainbow: false
Max Color: 0; 255; 0
Max Intensity: 20.0
Max Intensity: 20
Min Color: 255; 0; 0
Min Intensity: 15.0
Min Intensity: 15
Name: PointCloud2
Position Transformer: XYZ
Selectable: true
@@ -82,10 +83,17 @@ Visualization Manager:
Use Fixed Frame: true
Use rainbow: false
Value: true
- Class: rviz_default_plugins/Axes
Enabled: true
Length: 0.5
Name: Axes
Radius: 0.05000000074505806
Reference Frame: ti_mmwave_0
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: map
Fixed Frame: ti_mmwave_0
Frame Rate: 30
Name: root
Tools:
@@ -154,7 +162,7 @@ Window Geometry:
Height: 846
Hide Left Dock: false
Hide Right Dock: true
QMainWindow State: 000000ff00000000fd000000040000000000000156000002b0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002b0000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000002fb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000354000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd000000040000000000000156000002b4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000002b4000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000025300fffffffb0000000800540069006d0065010000000000000450000000000000000000000354000002b400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:

2
ros2_driver/src/ti_mmwave_rospkg/package.xml
View File

@@ -58,5 +58,5 @@
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

80
ros2_driver/src/ti_mmwave_rospkg/src/DataHandlerClass.cpp
View File

@@ -8,24 +8,20 @@
#include <pcl/io/pcd_io.h>
#include <pcl_conversions/pcl_conversions.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
using namespace std::chrono_literals;
rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr DataUARTHandler_pub;
rclcpp::Publisher<ti_mmwave_rospkg_msgs::msg::RadarScan>::SharedPtr radar_scan_pub;
rclcpp::Publisher<ti_mmwave_rospkg_msgs::msg::RadarOccupancy>::SharedPtr radar_occupancy_pub;
rclcpp::Publisher<ti_mmwave_rospkg_msgs::msg::RadarPointTrackID>::SharedPtr radar_trackid_pub;
rclcpp::Publisher<ti_mmwave_rospkg_msgs::msg::RadarTrackArray>::SharedPtr radar_trackarray_pub;
std::shared_ptr<sensor_msgs::msg::PointCloud2> pc2_msg_;
DataUARTHandler* gDataHandlerPtr;
rclcpp::Clock clocker;
DataUARTHandlerNode::DataUARTHandlerNode() : Node("DataUARTHandlerNode")
{
this->declare_parameter("mmwavecli_name", rclcpp::PARAMETER_STRING);
this->declare_parameter("mmwavecli_cfg", rclcpp::PARAMETER_STRING);
// this->declare_parameter("mmwavecli_name", rclcpp::PARAMETER_STRING);
// this->declare_parameter("mmwavecli_cfg", rclcpp::PARAMETER_STRING);
this->declare_parameter("data_port", rclcpp::PARAMETER_STRING);
this->declare_parameter("data_rate", rclcpp::PARAMETER_STRING);
this->declare_parameter("max_allowed_elevation_angle_deg", rclcpp::PARAMETER_INTEGER);
this->declare_parameter("max_allowed_azimuth_angle_deg", rclcpp::PARAMETER_INTEGER);
this->declare_parameter("frame_id", rclcpp::PARAMETER_STRING);
}
@@ -66,7 +62,7 @@ POINT_CLOUD_REGISTER_POINT_STRUCT (mmWaveCloudType,
DataUARTHandler::DataUARTHandler(std::shared_ptr<rclcpp::Node> nh) : currentBufp(&pingPongBuffers[0]) , nextBufp(&pingPongBuffers[1])
{
DataUARTHandler_pub = nh->create_publisher<sensor_msgs::msg::PointCloud2>("/ti_mmwave/radar_scan_pcl", 100);
radar_scan_pcl_pub = nh->create_publisher<sensor_msgs::msg::PointCloud2>("/ti_mmwave/radar_scan_pcl", 100);
radar_scan_pub = nh->create_publisher<ti_mmwave_rospkg_msgs::msg::RadarScan>("/ti_mmwave/radar_scan", 100);
radar_occupancy_pub = nh->create_publisher<ti_mmwave_rospkg_msgs::msg::RadarOccupancy>("/ti_mmwave/radar_occupancy", 100);
radar_trackid_pub = nh->create_publisher<ti_mmwave_rospkg_msgs::msg::RadarPointTrackID>("/ti_mmwave/radar_point_track_id", 100);
@@ -75,6 +71,8 @@ DataUARTHandler::DataUARTHandler(std::shared_ptr<rclcpp::Node> nh) : currentBufp
maxAllowedAzimuthAngleDeg = 90; // Use max angle if none specified
gDataHandlerPtr = this;
stop_threads = false;
nodeHandle = nh;
}
void DataUARTHandler::setFrameID(char const* myFrameID)
@@ -418,7 +416,6 @@ void *DataUARTHandler::sortIncomingData(void)
mmwData.numObjOut = mmwData.header.numDetectedObj;
}
RScan->header.stamp = static_cast<long int>(clocker.now().seconds());
RScan->header.frame_id = frameID;
RScan->height = 1;
RScan->width = mmwData.numObjOut;
@@ -490,8 +487,8 @@ void *DataUARTHandler::sortIncomingData(void)
RScan->points[i].z = temp[2]; // ROS standard coordinate system Z-axis is up which is the same as mmWave sensor Z-axis
//RScan->points[i].intensity = temp[5];
radarscan.frame_id = frameID;
radarscan.stamp = static_cast<long int>(clocker.now().seconds());
radarscan.header.stamp = nodeHandle->now();
radarscan.header.frame_id = frameID;
radarscan.point_id = i;
radarscan.x = temp[1];
radarscan.y = -temp[0];
@@ -526,8 +523,8 @@ void *DataUARTHandler::sortIncomingData(void)
RScan->points[i].z = mmwData.newObjOut.z; // ROS standard coordinate system Z-axis is up which is the same as mmWave sensor Z-axis
RScan->points[i].velocity = mmwData.newObjOut.velocity;
radarscan.frame_id = frameID;
radarscan.stamp = static_cast<long int>(clocker.now().seconds());
radarscan.header.stamp = nodeHandle->now();
radarscan.header.frame_id = frameID;
radarscan.point_id = i;
radarscan.x = mmwData.newObjOut.y;
radarscan.y = -mmwData.newObjOut.x;
@@ -602,13 +599,14 @@ void *DataUARTHandler::sortIncomingData(void)
radaroccupancy.state = mmwData.occupancy.state;
if (radaroccupancy.state == 0){
// RCLCPP_INFO(rclcpp::get_logger("rclcpp"),"Area is clear!");
}
else{
// RCLCPP_INFO(rclcpp::get_logger("rclcpp"),"Area is OCCUPIED!");
}
// if (radaroccupancy.state == 0){
// RCLCPP_INFO(rclcpp::get_logger("rclcpp"),"Area is clear!");
// }
// else{
// RCLCPP_INFO(rclcpp::get_logger("rclcpp"),"Area is OCCUPIED!");
// }
radaroccupancy.header.stamp = nodeHandle->now();
radar_occupancy_pub->publish(radaroccupancy);
sorterState = CHECK_TLV_TYPE;
@@ -693,8 +691,8 @@ void *DataUARTHandler::sortIncomingData(void)
RScan->points[i].velocity = realDoppler;
RScan->points[i].intensity = realSNR;
radarscan.frame_id = frameID;
radarscan.stamp = clocker.now().seconds();
radarscan.header.stamp = nodeHandle->now();
radarscan.header.frame_id = frameID;
radarscan.point_id = i;
radarscan.x = realRange * cos(realAzimuth) * cos(realElevation);
@@ -729,8 +727,7 @@ void *DataUARTHandler::sortIncomingData(void)
i = 0;
offset = 0;
mmwData.numObjOut = mmwData.header.numDetectedObj;
radartrackarray.frame_id = frameID;
radartrackarray.stamp = clocker.now().seconds();
radartrackarray.num_tracks = (int) tlvLen / 112;
//RCLCPP_INFO(rclcpp::get_logger("rclcpp"),"Number of Tracks is: %d",(tlvLen / 112));
@@ -788,8 +785,8 @@ void *DataUARTHandler::sortIncomingData(void)
memcpy( &mmwData.newListOut.confidenceLevel, &currentBufp->at(currentDatap), sizeof(mmwData.newListOut.confidenceLevel));
currentDatap += ( sizeof(mmwData.newListOut.confidenceLevel) );
radartrackcontents.frame_id = frameID;
radartrackcontents.stamp = clocker.now().seconds();
radartrackcontents.header.stamp = nodeHandle->now();
radartrackcontents.header.frame_id = frameID;
radartrackcontents.tid = mmwData.newListOut.tid;
radartrackcontents.posx = mmwData.newListOut.posY; // ROS standard coordinate system X-axis is forward which is the mmWave sensor Y-axis
radartrackcontents.posy = -mmwData.newListOut.posX; // ROS standard coordinate system Y-axis is left which is the mmWave sensor -(X-axis)
@@ -802,8 +799,10 @@ void *DataUARTHandler::sortIncomingData(void)
radartrackcontents.accz = mmwData.newListOut.accZ;
radartrackarray.track.push_back(radartrackcontents);
i++;
}
radartrackarray.header.stamp = nodeHandle->now();
radartrackarray.header.frame_id = frameID;
radar_trackarray_pub->publish(radartrackarray);
radartrackarray.track.clear();
sorterState = CHECK_TLV_TYPE;
@@ -881,8 +880,9 @@ void *DataUARTHandler::sortIncomingData(void)
RScan->points[i].z = realZ;
RScan->points[i].velocity = realDoppler;
RScan->points[i].intensity = realSNR;
radarscan.frame_id = frameID;
radarscan.stamp = clocker.now().seconds();
radarscan.header.stamp = nodeHandle->now();
radarscan.header.frame_id = frameID;
radarscan.point_id = i;
radarscan.x = realY;
radarscan.y = -(realX);
@@ -932,12 +932,12 @@ void *DataUARTHandler::sortIncomingData(void)
// throw away first track in order to allign with PointCloud
// if (frameID == 0){
radartrackid.frame_id = frameID;
radartrackid.header.frame_id = frameID;
// }
// else{
// radartrackid.header.frame_id = frameID - 1;
// }
radartrackid.stamp = clocker.now().seconds();
radartrackid.header.stamp = nodeHandle->now();
radartrackid.tid = mmwData.newIndexOut.targetID;
radar_trackid_pub->publish(radartrackid);
@@ -1040,8 +1040,9 @@ void *DataUARTHandler::sortIncomingData(void)
}
pc2_msg_ = std::make_shared<sensor_msgs::msg::PointCloud2>();
pcl::toROSMsg(*RScan, *pc2_msg_);
pc2_msg_->header.frame_id = "map";
DataUARTHandler_pub->publish(*pc2_msg_);
pc2_msg_->header.stamp = nodeHandle->now();
pc2_msg_->header.frame_id = frameID;
radar_scan_pcl_pub->publish(*pc2_msg_);
sorterState = SWAP_BUFFERS;
}
else // More TLV sections to parse
@@ -1257,17 +1258,22 @@ void DataUARTHandler::stop()
int main(int argc, char **argv)
{
rclcpp::init(argc, argv);
auto node = std::make_shared<DataUARTHandlerNode>();
std::string mySerialPort = node->get_parameter("data_port").as_string();
std::string myBaudRate = node->get_parameter("data_rate").as_string();
std::string myFrameID = "/ti_mmwave_0";
std::string myFrameID = node->get_parameter("frame_id").as_string();
int maxAllowedElevationAngleDeg = node->get_parameter("max_allowed_elevation_angle_deg").as_int();
int maxAllowedAzimuthAngleDeg = node->get_parameter("max_allowed_azimuth_angle_deg").as_int();
DataUARTHandler d(node);
d.setFrameID(myFrameID.c_str());
d.setUARTPort(mySerialPort.c_str());
d.setBaudRate(std::stoi(myBaudRate));
d.setMaxAllowedElevationAngleDeg(90);
d.setMaxAllowedAzimuthAngleDeg(90);
d.setMaxAllowedElevationAngleDeg(maxAllowedElevationAngleDeg);
d.setMaxAllowedAzimuthAngleDeg(maxAllowedAzimuthAngleDeg);
d.start();
rclcpp::spin(node);
rclcpp::shutdown();
}

32
ros2_driver/src/ti_mmwave_rospkg/src/ParameterParser.cpp
View File

@@ -15,17 +15,17 @@
std::shared_ptr<rclcpp::Node> nodeptr3 = nullptr;
class ParameterParser : public rclcpp::Node
{
class ParameterParser : public rclcpp::Node
{
public:
ParameterParser() : Node("ParameterParser")
{
this->declare_parameter("device_name", rclcpp::PARAMETER_STRING);
this->declare_parameter("device_name", rclcpp::PARAMETER_STRING);
this->declare_parameter("mmwavecli_name", rclcpp::PARAMETER_STRING);
this->declare_parameter("mmwavecli_cfg", rclcpp::PARAMETER_STRING);
parameters_client_test = std::make_shared<rclcpp::AsyncParametersClient>(this, "/ConfigParameterServer");
parameters_client_test->wait_for_service();
auto parameters_future = parameters_client_test->get_parameters({
auto parameters_future = parameters_client_test->get_parameters({
"/ti_mmwave/startFreq",
"/ti_mmwave/idleTime",
"/ti_mmwave/adcStartTime",
@@ -44,7 +44,7 @@ public:
"/ti_mmwave/zoneMinY",
"/ti_mmwave/zoneMaxY",
"/ti_mmwave/zoneMinZ",
"/ti_mmwave/zoneMaxZ"
"/ti_mmwave/zoneMaxZ"
},
std::bind(&ParameterParser::callbackGlobalParam, this, std::placeholders::_1));
}
@@ -89,19 +89,19 @@ int main(int argc, char **argv) {
std::ifstream myCfgParam;
std::string str_param;
std::string deviceName = nodeptr3->get_parameter("device_name").as_string();
std::string mmWaveCLIname = nodeptr3->get_parameter("mmwavecli_name").as_string();
// std::string mmWaveCLIname = nodeptr3->get_parameter("mmwavecli_name").as_string();
std::string mmWaveCLIcfg = nodeptr3->get_parameter("mmwavecli_cfg").as_string();
auto parameters_client = std::make_shared<rclcpp::AsyncParametersClient>(nodeptr3, "/ConfigParameterServer");
myCfgParam.open(mmWaveCLIcfg);
if (deviceName.compare("6432") != 0)
{
if (myCfgParam.is_open())
if (myCfgParam.is_open())
{
while( std::getline(myCfgParam, str_param))
while( std::getline(myCfgParam, str_param))
{
str_param.erase(std::remove(str_param.begin(), str_param.end(), '\r'), str_param.end());
if (!(std::regex_match(str_param, std::regex("^\\s*%.*")) || std::regex_match(str_param, std::regex("^\\s*"))))
if (!(std::regex_match(str_param, std::regex("^\\s*%.*")) || std::regex_match(str_param, std::regex("^\\s*"))))
{
//RCLCPP_INFO(rclcpp::get_logger("rclcpp"),"myParams equals %s\n", str_param.c_str() );
std::istringstream ss(str_param);
@@ -111,7 +111,7 @@ int main(int argc, char **argv) {
v.push_back(token);
}
if (!v[0].compare("profileCfg"))
if (!v[0].compare("profileCfg"))
{
//RCLCPP_INFO(this->get_logger(), "ProfileCfg");
parameters_client->set_parameters(
@@ -132,8 +132,8 @@ int main(int argc, char **argv) {
freqSlopeConst = std::stof(v[8]);
numAdcSamples = std::stof(v[10]);
digOutSampleRate = std::stof(v[11]);
}
else if (!v[0].compare("frameCfg"))
}
else if (!v[0].compare("frameCfg"))
{
parameters_client->set_parameters(
{
@@ -149,8 +149,8 @@ int main(int argc, char **argv) {
numLoops = std::stoi(v[3]);
numFrames = std::stoi(v[4]);
framePeriodicity = std::stof(v[5]);
}
else if (!v[0].compare("zoneDef"))
}
else if (!v[0].compare("zoneDef"))
{
parameters_client->set_parameters(
{
@@ -169,7 +169,7 @@ int main(int argc, char **argv) {
zoneMinZ = std::stoi(v[6]);
zoneMaxZ = std::stoi(v[7]);
}
}
}
}
}
@@ -182,7 +182,7 @@ int main(int argc, char **argv) {
float adc_duration = nr / fs;
float BW = adc_duration * kf;
float PRI = (idleTime + rampEndTime) * 1e-6;
float fc = startFreq * 1e9 + kf * (adcStartTime * 1e-6 + adc_duration / 2);
float fc = startFreq * 1e9 + kf * (adcStartTime * 1e-6 + adc_duration / 2);
float vrange = c0 / (2 * BW);
float max_range = nr * vrange;
float max_vel = c0 / (2 * fc * PRI) / ntx;

1
ros2_driver/src/ti_mmwave_rospkg/src/build/.built_by
View File

@@ -1 +0,0 @@
colcon

0
ros2_driver/src/ti_mmwave_rospkg/src/build/COLCON_IGNORE
View File

1
ros2_driver/src/ti_mmwave_rospkg/src/install/.colcon_install_layout
View File

@@ -1 +0,0 @@
isolated

0
ros2_driver/src/ti_mmwave_rospkg/src/install/COLCON_IGNORE
View File

404
ros2_driver/src/ti_mmwave_rospkg/src/install/_local_setup_util_ps1.py
View File

@@ -1,404 +0,0 @@
# Copyright 2016-2019 Dirk Thomas
# Licensed under the Apache License, Version 2.0
import argparse
from collections import OrderedDict
import os
from pathlib import Path
import sys
FORMAT_STR_COMMENT_LINE = '# {comment}'
FORMAT_STR_SET_ENV_VAR = 'Set-Item -Path "Env:{name}" -Value "{value}"'
FORMAT_STR_USE_ENV_VAR = '$env:{name}'
FORMAT_STR_INVOKE_SCRIPT = '_colcon_prefix_powershell_source_script "{script_path}"'
FORMAT_STR_REMOVE_LEADING_SEPARATOR = ''
FORMAT_STR_REMOVE_TRAILING_SEPARATOR = ''
DSV_TYPE_APPEND_NON_DUPLICATE = 'append-non-duplicate'
DSV_TYPE_PREPEND_NON_DUPLICATE = 'prepend-non-duplicate'
DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS = 'prepend-non-duplicate-if-exists'
DSV_TYPE_SET = 'set'
DSV_TYPE_SET_IF_UNSET = 'set-if-unset'
DSV_TYPE_SOURCE = 'source'
def main(argv=sys.argv[1:]): # noqa: D103
parser = argparse.ArgumentParser(
description='Output shell commands for the packages in topological '
'order')
parser.add_argument(
'primary_extension',
help='The file extension of the primary shell')
parser.add_argument(
'additional_extension', nargs='?',
help='The additional file extension to be considered')
parser.add_argument(
'--merged-install', action='store_true',
help='All install prefixes are merged into a single location')
args = parser.parse_args(argv)
packages = get_packages(Path(__file__).parent, args.merged_install)
ordered_packages = order_packages(packages)
for pkg_name in ordered_packages:
if _include_comments():
print(
FORMAT_STR_COMMENT_LINE.format_map(
{'comment': 'Package: ' + pkg_name}))
prefix = os.path.abspath(os.path.dirname(__file__))
if not args.merged_install:
prefix = os.path.join(prefix, pkg_name)
for line in get_commands(
pkg_name, prefix, args.primary_extension,
args.additional_extension
):
print(line)
for line in _remove_ending_separators():
print(line)
def get_packages(prefix_path, merged_install):
"""
Find packages based on colcon-specific files created during installation.
:param Path prefix_path: The install prefix path of all packages
:param bool merged_install: The flag if the packages are all installed
directly in the prefix or if each package is installed in a subdirectory
named after the package
:returns: A mapping from the package name to the set of runtime
dependencies
:rtype: dict
"""
packages = {}
# since importing colcon_core isn't feasible here the following constant
# must match colcon_core.location.get_relative_package_index_path()
subdirectory = 'share/colcon-core/packages'
if merged_install:
# return if workspace is empty
if not (prefix_path / subdirectory).is_dir():
return packages
# find all files in the subdirectory
for p in (prefix_path / subdirectory).iterdir():
if not p.is_file():
continue
if p.name.startswith('.'):
continue
add_package_runtime_dependencies(p, packages)
else:
# for each subdirectory look for the package specific file
for p in prefix_path.iterdir():
if not p.is_dir():
continue
if p.name.startswith('.'):
continue
p = p / subdirectory / p.name
if p.is_file():
add_package_runtime_dependencies(p, packages)
# remove unknown dependencies
pkg_names = set(packages.keys())
for k in packages.keys():
packages[k] = {d for d in packages[k] if d in pkg_names}
return packages
def add_package_runtime_dependencies(path, packages):
"""
Check the path and if it exists extract the packages runtime dependencies.
:param Path path: The resource file containing the runtime dependencies
:param dict packages: A mapping from package names to the sets of runtime
dependencies to add to
"""
content = path.read_text()
dependencies = set(content.split(os.pathsep) if content else [])
packages[path.name] = dependencies
def order_packages(packages):
"""
Order packages topologically.
:param dict packages: A mapping from package name to the set of runtime
dependencies
:returns: The package names
:rtype: list
"""
# select packages with no dependencies in alphabetical order
to_be_ordered = list(packages.keys())
ordered = []
while to_be_ordered:
pkg_names_without_deps = [
name for name in to_be_ordered if not packages[name]]
if not pkg_names_without_deps:
reduce_cycle_set(packages)
raise RuntimeError(
'Circular dependency between: ' + ', '.join(sorted(packages)))
pkg_names_without_deps.sort()
pkg_name = pkg_names_without_deps[0]
to_be_ordered.remove(pkg_name)
ordered.append(pkg_name)
# remove item from dependency lists
for k in list(packages.keys()):
if pkg_name in packages[k]:
packages[k].remove(pkg_name)
return ordered
def reduce_cycle_set(packages):
"""
Reduce the set of packages to the ones part of the circular dependency.
:param dict packages: A mapping from package name to the set of runtime
dependencies which is modified in place
"""
last_depended = None
while len(packages) > 0:
# get all remaining dependencies
depended = set()
for pkg_name, dependencies in packages.items():
depended = depended.union(dependencies)
# remove all packages which are not dependent on
for name in list(packages.keys()):
if name not in depended:
del packages[name]
if last_depended:
# if remaining packages haven't changed return them
if last_depended == depended:
return packages.keys()
# otherwise reduce again
last_depended = depended
def _include_comments():
# skipping comment lines when COLCON_TRACE is not set speeds up the
# processing especially on Windows
return bool(os.environ.get('COLCON_TRACE'))
def get_commands(pkg_name, prefix, primary_extension, additional_extension):
commands = []
package_dsv_path = os.path.join(prefix, 'share', pkg_name, 'package.dsv')
if os.path.exists(package_dsv_path):
commands += process_dsv_file(
package_dsv_path, prefix, primary_extension, additional_extension)
return commands
def process_dsv_file(
dsv_path, prefix, primary_extension=None, additional_extension=None
):
commands = []
if _include_comments():
commands.append(FORMAT_STR_COMMENT_LINE.format_map({'comment': dsv_path}))
with open(dsv_path, 'r') as h:
content = h.read()
lines = content.splitlines()
basenames = OrderedDict()
for i, line in enumerate(lines):
# skip over empty or whitespace-only lines
if not line.strip():
continue
try:
type_, remainder = line.split(';', 1)
except ValueError:
raise RuntimeError(
"Line %d in '%s' doesn't contain a semicolon separating the "
'type from the arguments' % (i + 1, dsv_path))
if type_ != DSV_TYPE_SOURCE:
# handle non-source lines
try:
commands += handle_dsv_types_except_source(
type_, remainder, prefix)
except RuntimeError as e:
raise RuntimeError(
"Line %d in '%s' %s" % (i + 1, dsv_path, e)) from e
else:
# group remaining source lines by basename
path_without_ext, ext = os.path.splitext(remainder)
if path_without_ext not in basenames:
basenames[path_without_ext] = set()
assert ext.startswith('.')
ext = ext[1:]
if ext in (primary_extension, additional_extension):
basenames[path_without_ext].add(ext)
# add the dsv extension to each basename if the file exists
for basename, extensions in basenames.items():
if not os.path.isabs(basename):
basename = os.path.join(prefix, basename)
if os.path.exists(basename + '.dsv'):
extensions.add('dsv')
for basename, extensions in basenames.items():
if not os.path.isabs(basename):
basename = os.path.join(prefix, basename)
if 'dsv' in extensions:
# process dsv files recursively
commands += process_dsv_file(
basename + '.dsv', prefix, primary_extension=primary_extension,
additional_extension=additional_extension)
elif primary_extension in extensions and len(extensions) == 1:
# source primary-only files
commands += [
FORMAT_STR_INVOKE_SCRIPT.format_map({
'prefix': prefix,
'script_path': basename + '.' + primary_extension})]
elif additional_extension in extensions:
# source non-primary files
commands += [
FORMAT_STR_INVOKE_SCRIPT.format_map({
'prefix': prefix,
'script_path': basename + '.' + additional_extension})]
return commands
def handle_dsv_types_except_source(type_, remainder, prefix):
commands = []
if type_ in (DSV_TYPE_SET, DSV_TYPE_SET_IF_UNSET):
try:
env_name, value = remainder.split(';', 1)
except ValueError:
raise RuntimeError(
"doesn't contain a semicolon separating the environment name "
'from the value')
try_prefixed_value = os.path.join(prefix, value) if value else prefix
if os.path.exists(try_prefixed_value):
value = try_prefixed_value
if type_ == DSV_TYPE_SET:
commands += _set(env_name, value)
elif type_ == DSV_TYPE_SET_IF_UNSET:
commands += _set_if_unset(env_name, value)
else:
assert False
elif type_ in (
DSV_TYPE_APPEND_NON_DUPLICATE,
DSV_TYPE_PREPEND_NON_DUPLICATE,
DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS
):
try:
env_name_and_values = remainder.split(';')
except ValueError:
raise RuntimeError(
"doesn't contain a semicolon separating the environment name "
'from the values')
env_name = env_name_and_values[0]
values = env_name_and_values[1:]
for value in values:
if not value:
value = prefix
elif not os.path.isabs(value):
value = os.path.join(prefix, value)
if (
type_ == DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS and
not os.path.exists(value)
):
comment = f'skip extending {env_name} with not existing ' \
f'path: {value}'
if _include_comments():
commands.append(
FORMAT_STR_COMMENT_LINE.format_map({'comment': comment}))
elif type_ == DSV_TYPE_APPEND_NON_DUPLICATE:
commands += _append_unique_value(env_name, value)
else:
commands += _prepend_unique_value(env_name, value)
else:
raise RuntimeError(
'contains an unknown environment hook type: ' + type_)
return commands
env_state = {}
def _append_unique_value(name, value):
global env_state
if name not in env_state:
if os.environ.get(name):
env_state[name] = set(os.environ[name].split(os.pathsep))
else:
env_state[name] = set()
# append even if the variable has not been set yet, in case a shell script sets the
# same variable without the knowledge of this Python script.
# later _remove_ending_separators() will cleanup any unintentional leading separator
extend = FORMAT_STR_USE_ENV_VAR.format_map({'name': name}) + os.pathsep
line = FORMAT_STR_SET_ENV_VAR.format_map(
{'name': name, 'value': extend + value})
if value not in env_state[name]:
env_state[name].add(value)
else:
if not _include_comments():
return []
line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
return [line]
def _prepend_unique_value(name, value):
global env_state
if name not in env_state:
if os.environ.get(name):
env_state[name] = set(os.environ[name].split(os.pathsep))
else:
env_state[name] = set()
# prepend even if the variable has not been set yet, in case a shell script sets the
# same variable without the knowledge of this Python script.
# later _remove_ending_separators() will cleanup any unintentional trailing separator
extend = os.pathsep + FORMAT_STR_USE_ENV_VAR.format_map({'name': name})
line = FORMAT_STR_SET_ENV_VAR.format_map(
{'name': name, 'value': value + extend})
if value not in env_state[name]:
env_state[name].add(value)
else:
if not _include_comments():
return []
line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
return [line]
# generate commands for removing prepended underscores
def _remove_ending_separators():
# do nothing if the shell extension does not implement the logic
if FORMAT_STR_REMOVE_TRAILING_SEPARATOR is None:
return []
global env_state
commands = []
for name in env_state:
# skip variables that already had values before this script started prepending
if name in os.environ:
continue
commands += [
FORMAT_STR_REMOVE_LEADING_SEPARATOR.format_map({'name': name}),
FORMAT_STR_REMOVE_TRAILING_SEPARATOR.format_map({'name': name})]
return commands
def _set(name, value):
global env_state
env_state[name] = value
line = FORMAT_STR_SET_ENV_VAR.format_map(
{'name': name, 'value': value})
return [line]
def _set_if_unset(name, value):
global env_state
line = FORMAT_STR_SET_ENV_VAR.format_map(
{'name': name, 'value': value})
if env_state.get(name, os.environ.get(name)):
line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
return [line]
if __name__ == '__main__': # pragma: no cover
try:
rc = main()
except RuntimeError as e:
print(str(e), file=sys.stderr)
rc = 1
sys.exit(rc)

404
ros2_driver/src/ti_mmwave_rospkg/src/install/_local_setup_util_sh.py
View File

@@ -1,404 +0,0 @@
# Copyright 2016-2019 Dirk Thomas
# Licensed under the Apache License, Version 2.0
import argparse
from collections import OrderedDict
import os
from pathlib import Path
import sys
FORMAT_STR_COMMENT_LINE = '# {comment}'
FORMAT_STR_SET_ENV_VAR = 'export {name}="{value}"'
FORMAT_STR_USE_ENV_VAR = '${name}'
FORMAT_STR_INVOKE_SCRIPT = 'COLCON_CURRENT_PREFIX="{prefix}" _colcon_prefix_sh_source_script "{script_path}"'
FORMAT_STR_REMOVE_LEADING_SEPARATOR = 'if [ "$(echo -n ${name} | head -c 1)" = ":" ]; then export {name}=${{{name}#?}} ; fi'
FORMAT_STR_REMOVE_TRAILING_SEPARATOR = 'if [ "$(echo -n ${name} | tail -c 1)" = ":" ]; then export {name}=${{{name}%?}} ; fi'
DSV_TYPE_APPEND_NON_DUPLICATE = 'append-non-duplicate'
DSV_TYPE_PREPEND_NON_DUPLICATE = 'prepend-non-duplicate'
DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS = 'prepend-non-duplicate-if-exists'
DSV_TYPE_SET = 'set'
DSV_TYPE_SET_IF_UNSET = 'set-if-unset'
DSV_TYPE_SOURCE = 'source'
def main(argv=sys.argv[1:]): # noqa: D103
parser = argparse.ArgumentParser(
description='Output shell commands for the packages in topological '
'order')
parser.add_argument(
'primary_extension',
help='The file extension of the primary shell')
parser.add_argument(
'additional_extension', nargs='?',
help='The additional file extension to be considered')
parser.add_argument(
'--merged-install', action='store_true',
help='All install prefixes are merged into a single location')
args = parser.parse_args(argv)
packages = get_packages(Path(__file__).parent, args.merged_install)
ordered_packages = order_packages(packages)
for pkg_name in ordered_packages:
if _include_comments():
print(
FORMAT_STR_COMMENT_LINE.format_map(
{'comment': 'Package: ' + pkg_name}))
prefix = os.path.abspath(os.path.dirname(__file__))
if not args.merged_install:
prefix = os.path.join(prefix, pkg_name)
for line in get_commands(
pkg_name, prefix, args.primary_extension,
args.additional_extension
):
print(line)
for line in _remove_ending_separators():
print(line)
def get_packages(prefix_path, merged_install):
"""
Find packages based on colcon-specific files created during installation.
:param Path prefix_path: The install prefix path of all packages
:param bool merged_install: The flag if the packages are all installed
directly in the prefix or if each package is installed in a subdirectory
named after the package
:returns: A mapping from the package name to the set of runtime
dependencies
:rtype: dict
"""
packages = {}
# since importing colcon_core isn't feasible here the following constant
# must match colcon_core.location.get_relative_package_index_path()
subdirectory = 'share/colcon-core/packages'
if merged_install:
# return if workspace is empty
if not (prefix_path / subdirectory).is_dir():
return packages
# find all files in the subdirectory
for p in (prefix_path / subdirectory).iterdir():
if not p.is_file():
continue
if p.name.startswith('.'):
continue
add_package_runtime_dependencies(p, packages)
else:
# for each subdirectory look for the package specific file
for p in prefix_path.iterdir():
if not p.is_dir():
continue
if p.name.startswith('.'):
continue
p = p / subdirectory / p.name
if p.is_file():
add_package_runtime_dependencies(p, packages)
# remove unknown dependencies
pkg_names = set(packages.keys())
for k in packages.keys():
packages[k] = {d for d in packages[k] if d in pkg_names}
return packages
def add_package_runtime_dependencies(path, packages):
"""
Check the path and if it exists extract the packages runtime dependencies.
:param Path path: The resource file containing the runtime dependencies
:param dict packages: A mapping from package names to the sets of runtime
dependencies to add to
"""
content = path.read_text()
dependencies = set(content.split(os.pathsep) if content else [])
packages[path.name] = dependencies
def order_packages(packages):
"""
Order packages topologically.
:param dict packages: A mapping from package name to the set of runtime
dependencies
:returns: The package names
:rtype: list
"""
# select packages with no dependencies in alphabetical order
to_be_ordered = list(packages.keys())
ordered = []
while to_be_ordered:
pkg_names_without_deps = [
name for name in to_be_ordered if not packages[name]]
if not pkg_names_without_deps:
reduce_cycle_set(packages)
raise RuntimeError(
'Circular dependency between: ' + ', '.join(sorted(packages)))
pkg_names_without_deps.sort()
pkg_name = pkg_names_without_deps[0]
to_be_ordered.remove(pkg_name)
ordered.append(pkg_name)
# remove item from dependency lists
for k in list(packages.keys()):
if pkg_name in packages[k]:
packages[k].remove(pkg_name)
return ordered
def reduce_cycle_set(packages):
"""
Reduce the set of packages to the ones part of the circular dependency.
:param dict packages: A mapping from package name to the set of runtime
dependencies which is modified in place
"""
last_depended = None
while len(packages) > 0:
# get all remaining dependencies
depended = set()
for pkg_name, dependencies in packages.items():
depended = depended.union(dependencies)
# remove all packages which are not dependent on
for name in list(packages.keys()):
if name not in depended:
del packages[name]
if last_depended:
# if remaining packages haven't changed return them
if last_depended == depended:
return packages.keys()
# otherwise reduce again
last_depended = depended
def _include_comments():
# skipping comment lines when COLCON_TRACE is not set speeds up the
# processing especially on Windows
return bool(os.environ.get('COLCON_TRACE'))
def get_commands(pkg_name, prefix, primary_extension, additional_extension):
commands = []
package_dsv_path = os.path.join(prefix, 'share', pkg_name, 'package.dsv')
if os.path.exists(package_dsv_path):
commands += process_dsv_file(
package_dsv_path, prefix, primary_extension, additional_extension)
return commands
def process_dsv_file(
dsv_path, prefix, primary_extension=None, additional_extension=None
):
commands = []
if _include_comments():
commands.append(FORMAT_STR_COMMENT_LINE.format_map({'comment': dsv_path}))
with open(dsv_path, 'r') as h:
content = h.read()
lines = content.splitlines()
basenames = OrderedDict()
for i, line in enumerate(lines):
# skip over empty or whitespace-only lines
if not line.strip():
continue
try:
type_, remainder = line.split(';', 1)
except ValueError:
raise RuntimeError(
"Line %d in '%s' doesn't contain a semicolon separating the "
'type from the arguments' % (i + 1, dsv_path))
if type_ != DSV_TYPE_SOURCE:
# handle non-source lines
try:
commands += handle_dsv_types_except_source(
type_, remainder, prefix)
except RuntimeError as e:
raise RuntimeError(
"Line %d in '%s' %s" % (i + 1, dsv_path, e)) from e
else:
# group remaining source lines by basename
path_without_ext, ext = os.path.splitext(remainder)
if path_without_ext not in basenames:
basenames[path_without_ext] = set()
assert ext.startswith('.')
ext = ext[1:]
if ext in (primary_extension, additional_extension):
basenames[path_without_ext].add(ext)
# add the dsv extension to each basename if the file exists
for basename, extensions in basenames.items():
if not os.path.isabs(basename):
basename = os.path.join(prefix, basename)
if os.path.exists(basename + '.dsv'):
extensions.add('dsv')
for basename, extensions in basenames.items():
if not os.path.isabs(basename):
basename = os.path.join(prefix, basename)
if 'dsv' in extensions:
# process dsv files recursively
commands += process_dsv_file(
basename + '.dsv', prefix, primary_extension=primary_extension,
additional_extension=additional_extension)
elif primary_extension in extensions and len(extensions) == 1:
# source primary-only files
commands += [
FORMAT_STR_INVOKE_SCRIPT.format_map({
'prefix': prefix,
'script_path': basename + '.' + primary_extension})]
elif additional_extension in extensions:
# source non-primary files
commands += [
FORMAT_STR_INVOKE_SCRIPT.format_map({
'prefix': prefix,
'script_path': basename + '.' + additional_extension})]
return commands
def handle_dsv_types_except_source(type_, remainder, prefix):
commands = []
if type_ in (DSV_TYPE_SET, DSV_TYPE_SET_IF_UNSET):
try:
env_name, value = remainder.split(';', 1)
except ValueError:
raise RuntimeError(
"doesn't contain a semicolon separating the environment name "
'from the value')
try_prefixed_value = os.path.join(prefix, value) if value else prefix
if os.path.exists(try_prefixed_value):
value = try_prefixed_value
if type_ == DSV_TYPE_SET:
commands += _set(env_name, value)
elif type_ == DSV_TYPE_SET_IF_UNSET:
commands += _set_if_unset(env_name, value)
else:
assert False
elif type_ in (
DSV_TYPE_APPEND_NON_DUPLICATE,
DSV_TYPE_PREPEND_NON_DUPLICATE,
DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS
):
try:
env_name_and_values = remainder.split(';')
except ValueError:
raise RuntimeError(
"doesn't contain a semicolon separating the environment name "
'from the values')
env_name = env_name_and_values[0]
values = env_name_and_values[1:]
for value in values:
if not value:
value = prefix
elif not os.path.isabs(value):
value = os.path.join(prefix, value)
if (
type_ == DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS and
not os.path.exists(value)
):
comment = f'skip extending {env_name} with not existing ' \
f'path: {value}'
if _include_comments():
commands.append(
FORMAT_STR_COMMENT_LINE.format_map({'comment': comment}))
elif type_ == DSV_TYPE_APPEND_NON_DUPLICATE:
commands += _append_unique_value(env_name, value)
else:
commands += _prepend_unique_value(env_name, value)
else:
raise RuntimeError(
'contains an unknown environment hook type: ' + type_)
return commands
env_state = {}
def _append_unique_value(name, value):
global env_state
if name not in env_state:
if os.environ.get(name):
env_state[name] = set(os.environ[name].split(os.pathsep))
else:
env_state[name] = set()
# append even if the variable has not been set yet, in case a shell script sets the
# same variable without the knowledge of this Python script.
# later _remove_ending_separators() will cleanup any unintentional leading separator
extend = FORMAT_STR_USE_ENV_VAR.format_map({'name': name}) + os.pathsep
line = FORMAT_STR_SET_ENV_VAR.format_map(
{'name': name, 'value': extend + value})
if value not in env_state[name]:
env_state[name].add(value)
else:
if not _include_comments():
return []
line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
return [line]
def _prepend_unique_value(name, value):
global env_state
if name not in env_state:
if os.environ.get(name):
env_state[name] = set(os.environ[name].split(os.pathsep))
else:
env_state[name] = set()
# prepend even if the variable has not been set yet, in case a shell script sets the
# same variable without the knowledge of this Python script.
# later _remove_ending_separators() will cleanup any unintentional trailing separator
extend = os.pathsep + FORMAT_STR_USE_ENV_VAR.format_map({'name': name})
line = FORMAT_STR_SET_ENV_VAR.format_map(
{'name': name, 'value': value + extend})
if value not in env_state[name]:
env_state[name].add(value)
else:
if not _include_comments():
return []
line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
return [line]
# generate commands for removing prepended underscores
def _remove_ending_separators():
# do nothing if the shell extension does not implement the logic
if FORMAT_STR_REMOVE_TRAILING_SEPARATOR is None:
return []
global env_state
commands = []
for name in env_state:
# skip variables that already had values before this script started prepending
if name in os.environ:
continue
commands += [
FORMAT_STR_REMOVE_LEADING_SEPARATOR.format_map({'name': name}),
FORMAT_STR_REMOVE_TRAILING_SEPARATOR.format_map({'name': name})]
return commands
def _set(name, value):
global env_state
env_state[name] = value
line = FORMAT_STR_SET_ENV_VAR.format_map(
{'name': name, 'value': value})
return [line]
def _set_if_unset(name, value):
global env_state
line = FORMAT_STR_SET_ENV_VAR.format_map(
{'name': name, 'value': value})
if env_state.get(name, os.environ.get(name)):
line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
return [line]
if __name__ == '__main__': # pragma: no cover
try:
rc = main()
except RuntimeError as e:
print(str(e), file=sys.stderr)
rc = 1
sys.exit(rc)

107
ros2_driver/src/ti_mmwave_rospkg/src/install/local_setup.bash
View File

@@ -1,107 +0,0 @@
# generated from colcon_bash/shell/template/prefix.bash.em
# This script extends the environment with all packages contained in this
# prefix path.
# a bash script is able to determine its own path if necessary
if [ -z "$COLCON_CURRENT_PREFIX" ]; then
_colcon_prefix_bash_COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)"
else
_colcon_prefix_bash_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
fi
# function to prepend a value to a variable
# which uses colons as separators
# duplicates as well as trailing separators are avoided
# first argument: the name of the result variable
# second argument: the value to be prepended
_colcon_prefix_bash_prepend_unique_value() {
# arguments
_listname="$1"
_value="$2"
# get values from variable
eval _values=\"\$$_listname\"
# backup the field separator
_colcon_prefix_bash_prepend_unique_value_IFS="$IFS"
IFS=":"
# start with the new value
_all_values="$_value"
# iterate over existing values in the variable
for _item in $_values; do
# ignore empty strings
if [ -z "$_item" ]; then
continue
fi
# ignore duplicates of _value
if [ "$_item" = "$_value" ]; then
continue
fi
# keep non-duplicate values
_all_values="$_all_values:$_item"
done
unset _item
# restore the field separator
IFS="$_colcon_prefix_bash_prepend_unique_value_IFS"
unset _colcon_prefix_bash_prepend_unique_value_IFS
# export the updated variable
eval export $_listname=\"$_all_values\"
unset _all_values
unset _values
unset _value
unset _listname
}
# add this prefix to the COLCON_PREFIX_PATH
_colcon_prefix_bash_prepend_unique_value COLCON_PREFIX_PATH "$_colcon_prefix_bash_COLCON_CURRENT_PREFIX"
unset _colcon_prefix_bash_prepend_unique_value
# check environment variable for custom Python executable
if [ -n "$COLCON_PYTHON_EXECUTABLE" ]; then
if [ ! -f "$COLCON_PYTHON_EXECUTABLE" ]; then
echo "error: COLCON_PYTHON_EXECUTABLE '$COLCON_PYTHON_EXECUTABLE' doesn't exist"
return 1
fi
_colcon_python_executable="$COLCON_PYTHON_EXECUTABLE"
else
# try the Python executable known at configure time
_colcon_python_executable="/usr/bin/python3"
# if it doesn't exist try a fall back
if [ ! -f "$_colcon_python_executable" ]; then
if ! /usr/bin/env python3 --version > /dev/null 2> /dev/null; then
echo "error: unable to find python3 executable"
return 1
fi
_colcon_python_executable=`/usr/bin/env python3 -c "import sys; print(sys.executable)"`
fi
fi
# function to source another script with conditional trace output
# first argument: the path of the script
_colcon_prefix_sh_source_script() {
if [ -f "$1" ]; then
if [ -n "$COLCON_TRACE" ]; then
echo ". \"$1\""
fi
. "$1"
else
echo "not found: \"$1\"" 1>&2
fi
}
# get all commands in topological order
_colcon_ordered_commands="$($_colcon_python_executable "$_colcon_prefix_bash_COLCON_CURRENT_PREFIX/_local_setup_util_sh.py" sh bash)"
unset _colcon_python_executable
if [ -n "$COLCON_TRACE" ]; then
echo "Execute generated script:"
echo "<<<"
echo "${_colcon_ordered_commands}"
echo ">>>"
fi
eval "${_colcon_ordered_commands}"
unset _colcon_ordered_commands
unset _colcon_prefix_sh_source_script
unset _colcon_prefix_bash_COLCON_CURRENT_PREFIX

55
ros2_driver/src/ti_mmwave_rospkg/src/install/local_setup.ps1
View File

@@ -1,55 +0,0 @@
# generated from colcon_powershell/shell/template/prefix.ps1.em
# This script extends the environment with all packages contained in this
# prefix path.
# check environment variable for custom Python executable
if ($env:COLCON_PYTHON_EXECUTABLE) {
if (!(Test-Path "$env:COLCON_PYTHON_EXECUTABLE" -PathType Leaf)) {
echo "error: COLCON_PYTHON_EXECUTABLE '$env:COLCON_PYTHON_EXECUTABLE' doesn't exist"
exit 1
}
$_colcon_python_executable="$env:COLCON_PYTHON_EXECUTABLE"
} else {
# use the Python executable known at configure time
$_colcon_python_executable="/usr/bin/python3"
# if it doesn't exist try a fall back
if (!(Test-Path "$_colcon_python_executable" -PathType Leaf)) {
if (!(Get-Command "python3" -ErrorAction SilentlyContinue)) {
echo "error: unable to find python3 executable"
exit 1
}
$_colcon_python_executable="python3"
}
}
# function to source another script with conditional trace output
# first argument: the path of the script
function _colcon_prefix_powershell_source_script {
param (
$_colcon_prefix_powershell_source_script_param
)
# source script with conditional trace output
if (Test-Path $_colcon_prefix_powershell_source_script_param) {
if ($env:COLCON_TRACE) {
echo ". '$_colcon_prefix_powershell_source_script_param'"
}
. "$_colcon_prefix_powershell_source_script_param"
} else {
Write-Error "not found: '$_colcon_prefix_powershell_source_script_param'"
}
}
# get all commands in topological order
$_colcon_ordered_commands = & "$_colcon_python_executable" "$(Split-Path $PSCommandPath -Parent)/_local_setup_util_ps1.py" ps1
# execute all commands in topological order
if ($env:COLCON_TRACE) {
echo "Execute generated script:"
echo "<<<"
$_colcon_ordered_commands.Split([Environment]::NewLine, [StringSplitOptions]::RemoveEmptyEntries) | Write-Output
echo ">>>"
}
if ($_colcon_ordered_commands) {
$_colcon_ordered_commands.Split([Environment]::NewLine, [StringSplitOptions]::RemoveEmptyEntries) | Invoke-Expression
}

137
ros2_driver/src/ti_mmwave_rospkg/src/install/local_setup.sh
View File

@@ -1,137 +0,0 @@
# generated from colcon_core/shell/template/prefix.sh.em
# This script extends the environment with all packages contained in this
# prefix path.
# since a plain shell script can't determine its own path when being sourced
# either use the provided COLCON_CURRENT_PREFIX
# or fall back to the build time prefix (if it exists)
_colcon_prefix_sh_COLCON_CURRENT_PREFIX="/home/rosi2/ros2_driver/src/ti_mmwave_rospkg/src/install"
if [ -z "$COLCON_CURRENT_PREFIX" ]; then
if [ ! -d "$_colcon_prefix_sh_COLCON_CURRENT_PREFIX" ]; then
echo "The build time path \"$_colcon_prefix_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2
unset _colcon_prefix_sh_COLCON_CURRENT_PREFIX
return 1
fi
else
_colcon_prefix_sh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
fi
# function to prepend a value to a variable
# which uses colons as separators
# duplicates as well as trailing separators are avoided
# first argument: the name of the result variable
# second argument: the value to be prepended
_colcon_prefix_sh_prepend_unique_value() {
# arguments
_listname="$1"
_value="$2"
# get values from variable
eval _values=\"\$$_listname\"
# backup the field separator
_colcon_prefix_sh_prepend_unique_value_IFS="$IFS"
IFS=":"
# start with the new value
_all_values="$_value"
_contained_value=""
# iterate over existing values in the variable
for _item in $_values; do
# ignore empty strings
if [ -z "$_item" ]; then
continue
fi
# ignore duplicates of _value
if [ "$_item" = "$_value" ]; then
_contained_value=1
continue
fi
# keep non-duplicate values
_all_values="$_all_values:$_item"
done
unset _item
if [ -z "$_contained_value" ]; then
if [ -n "$COLCON_TRACE" ]; then
if [ "$_all_values" = "$_value" ]; then
echo "export $_listname=$_value"
else
echo "export $_listname=$_value:\$$_listname"
fi
fi
fi
unset _contained_value
# restore the field separator
IFS="$_colcon_prefix_sh_prepend_unique_value_IFS"
unset _colcon_prefix_sh_prepend_unique_value_IFS
# export the updated variable
eval export $_listname=\"$_all_values\"
unset _all_values
unset _values
unset _value
unset _listname
}
# add this prefix to the COLCON_PREFIX_PATH
_colcon_prefix_sh_prepend_unique_value COLCON_PREFIX_PATH "$_colcon_prefix_sh_COLCON_CURRENT_PREFIX"
unset _colcon_prefix_sh_prepend_unique_value
# check environment variable for custom Python executable
if [ -n "$COLCON_PYTHON_EXECUTABLE" ]; then
if [ ! -f "$COLCON_PYTHON_EXECUTABLE" ]; then
echo "error: COLCON_PYTHON_EXECUTABLE '$COLCON_PYTHON_EXECUTABLE' doesn't exist"
return 1
fi
_colcon_python_executable="$COLCON_PYTHON_EXECUTABLE"
else
# try the Python executable known at configure time
_colcon_python_executable="/usr/bin/python3"
# if it doesn't exist try a fall back
if [ ! -f "$_colcon_python_executable" ]; then
if ! /usr/bin/env python3 --version > /dev/null 2> /dev/null; then
echo "error: unable to find python3 executable"
return 1
fi
_colcon_python_executable=`/usr/bin/env python3 -c "import sys; print(sys.executable)"`
fi
fi
# function to source another script with conditional trace output
# first argument: the path of the script
_colcon_prefix_sh_source_script() {
if [ -f "$1" ]; then
if [ -n "$COLCON_TRACE" ]; then
echo "# . \"$1\""
fi
. "$1"
else
echo "not found: \"$1\"" 1>&2
fi
}
# get all commands in topological order
_colcon_ordered_commands="$($_colcon_python_executable "$_colcon_prefix_sh_COLCON_CURRENT_PREFIX/_local_setup_util_sh.py" sh)"
unset _colcon_python_executable
if [ -n "$COLCON_TRACE" ]; then
echo "_colcon_prefix_sh_source_script() {
if [ -f \"\$1\" ]; then
if [ -n \"\$COLCON_TRACE\" ]; then
echo \"# . \\\"\$1\\\"\"
fi
. \"\$1\"
else
echo \"not found: \\\"\$1\\\"\" 1>&2
fi
}"
echo "# Execute generated script:"
echo "# <<<"
echo "${_colcon_ordered_commands}"
echo "# >>>"
echo "unset _colcon_prefix_sh_source_script"
fi
eval "${_colcon_ordered_commands}"
unset _colcon_ordered_commands
unset _colcon_prefix_sh_source_script
unset _colcon_prefix_sh_COLCON_CURRENT_PREFIX

120
ros2_driver/src/ti_mmwave_rospkg/src/install/local_setup.zsh
View File

@@ -1,120 +0,0 @@
# generated from colcon_zsh/shell/template/prefix.zsh.em
# This script extends the environment with all packages contained in this
# prefix path.
# a zsh script is able to determine its own path if necessary
if [ -z "$COLCON_CURRENT_PREFIX" ]; then
_colcon_prefix_zsh_COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd)"
else
_colcon_prefix_zsh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
fi
# function to convert array-like strings into arrays
# to workaround SH_WORD_SPLIT not being set
_colcon_prefix_zsh_convert_to_array() {
local _listname=$1
local _dollar="$"
local _split="{="
local _to_array="(\"$_dollar$_split$_listname}\")"
eval $_listname=$_to_array
}
# function to prepend a value to a variable
# which uses colons as separators
# duplicates as well as trailing separators are avoided
# first argument: the name of the result variable
# second argument: the value to be prepended
_colcon_prefix_zsh_prepend_unique_value() {
# arguments
_listname="$1"
_value="$2"
# get values from variable
eval _values=\"\$$_listname\"
# backup the field separator
_colcon_prefix_zsh_prepend_unique_value_IFS="$IFS"
IFS=":"
# start with the new value
_all_values="$_value"
# workaround SH_WORD_SPLIT not being set
_colcon_prefix_zsh_convert_to_array _values
# iterate over existing values in the variable
for _item in $_values; do
# ignore empty strings
if [ -z "$_item" ]; then
continue
fi
# ignore duplicates of _value
if [ "$_item" = "$_value" ]; then
continue
fi
# keep non-duplicate values
_all_values="$_all_values:$_item"
done
unset _item
# restore the field separator
IFS="$_colcon_prefix_zsh_prepend_unique_value_IFS"
unset _colcon_prefix_zsh_prepend_unique_value_IFS
# export the updated variable
eval export $_listname=\"$_all_values\"
unset _all_values
unset _values
unset _value
unset _listname
}
# add this prefix to the COLCON_PREFIX_PATH
_colcon_prefix_zsh_prepend_unique_value COLCON_PREFIX_PATH "$_colcon_prefix_zsh_COLCON_CURRENT_PREFIX"
unset _colcon_prefix_zsh_prepend_unique_value
unset _colcon_prefix_zsh_convert_to_array
# check environment variable for custom Python executable
if [ -n "$COLCON_PYTHON_EXECUTABLE" ]; then
if [ ! -f "$COLCON_PYTHON_EXECUTABLE" ]; then
echo "error: COLCON_PYTHON_EXECUTABLE '$COLCON_PYTHON_EXECUTABLE' doesn't exist"
return 1
fi
_colcon_python_executable="$COLCON_PYTHON_EXECUTABLE"
else
# try the Python executable known at configure time
_colcon_python_executable="/usr/bin/python3"
# if it doesn't exist try a fall back
if [ ! -f "$_colcon_python_executable" ]; then
if ! /usr/bin/env python3 --version > /dev/null 2> /dev/null; then
echo "error: unable to find python3 executable"
return 1
fi
_colcon_python_executable=`/usr/bin/env python3 -c "import sys; print(sys.executable)"`
fi
fi
# function to source another script with conditional trace output
# first argument: the path of the script
_colcon_prefix_sh_source_script() {
if [ -f "$1" ]; then
if [ -n "$COLCON_TRACE" ]; then
echo ". \"$1\""
fi
. "$1"
else
echo "not found: \"$1\"" 1>&2
fi
}
# get all commands in topological order
_colcon_ordered_commands="$($_colcon_python_executable "$_colcon_prefix_zsh_COLCON_CURRENT_PREFIX/_local_setup_util_sh.py" sh zsh)"
unset _colcon_python_executable
if [ -n "$COLCON_TRACE" ]; then
echo "Execute generated script:"
echo "<<<"
echo "${_colcon_ordered_commands}"
echo ">>>"
fi
eval "${_colcon_ordered_commands}"
unset _colcon_ordered_commands
unset _colcon_prefix_sh_source_script
unset _colcon_prefix_zsh_COLCON_CURRENT_PREFIX

31
ros2_driver/src/ti_mmwave_rospkg/src/install/setup.bash
View File

@@ -1,31 +0,0 @@
# generated from colcon_bash/shell/template/prefix_chain.bash.em
# This script extends the environment with the environment of other prefix
# paths which were sourced when this file was generated as well as all packages
# contained in this prefix path.
# function to source another script with conditional trace output
# first argument: the path of the script
_colcon_prefix_chain_bash_source_script() {
if [ -f "$1" ]; then
if [ -n "$COLCON_TRACE" ]; then
echo ". \"$1\""
fi
. "$1"
else
echo "not found: \"$1\"" 1>&2
fi
}
# source chained prefixes
# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
COLCON_CURRENT_PREFIX="/opt/ros/humble"
_colcon_prefix_chain_bash_source_script "$COLCON_CURRENT_PREFIX/local_setup.bash"
# source this prefix
# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)"
_colcon_prefix_chain_bash_source_script "$COLCON_CURRENT_PREFIX/local_setup.bash"
unset COLCON_CURRENT_PREFIX
unset _colcon_prefix_chain_bash_source_script

29
ros2_driver/src/ti_mmwave_rospkg/src/install/setup.ps1
View File

@@ -1,29 +0,0 @@
# generated from colcon_powershell/shell/template/prefix_chain.ps1.em
# This script extends the environment with the environment of other prefix
# paths which were sourced when this file was generated as well as all packages
# contained in this prefix path.
# function to source another script with conditional trace output
# first argument: the path of the script
function _colcon_prefix_chain_powershell_source_script {
param (
$_colcon_prefix_chain_powershell_source_script_param
)
# source script with conditional trace output
if (Test-Path $_colcon_prefix_chain_powershell_source_script_param) {
if ($env:COLCON_TRACE) {
echo ". '$_colcon_prefix_chain_powershell_source_script_param'"
}
. "$_colcon_prefix_chain_powershell_source_script_param"
} else {
Write-Error "not found: '$_colcon_prefix_chain_powershell_source_script_param'"
}
}
# source chained prefixes
_colcon_prefix_chain_powershell_source_script "/opt/ros/humble\local_setup.ps1"
# source this prefix
$env:COLCON_CURRENT_PREFIX=(Split-Path $PSCommandPath -Parent)
_colcon_prefix_chain_powershell_source_script "$env:COLCON_CURRENT_PREFIX\local_setup.ps1"

45
ros2_driver/src/ti_mmwave_rospkg/src/install/setup.sh
View File

@@ -1,45 +0,0 @@
# generated from colcon_core/shell/template/prefix_chain.sh.em
# This script extends the environment with the environment of other prefix
# paths which were sourced when this file was generated as well as all packages
# contained in this prefix path.
# since a plain shell script can't determine its own path when being sourced
# either use the provided COLCON_CURRENT_PREFIX
# or fall back to the build time prefix (if it exists)
_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX=/home/rosi2/ros2_driver/src/ti_mmwave_rospkg/src/install
if [ ! -z "$COLCON_CURRENT_PREFIX" ]; then
_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
elif [ ! -d "$_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX" ]; then
echo "The build time path \"$_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2
unset _colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX
return 1
fi
# function to source another script with conditional trace output
# first argument: the path of the script
_colcon_prefix_chain_sh_source_script() {
if [ -f "$1" ]; then
if [ -n "$COLCON_TRACE" ]; then
echo "# . \"$1\""
fi
. "$1"
else
echo "not found: \"$1\"" 1>&2
fi
}
# source chained prefixes
# setting COLCON_CURRENT_PREFIX avoids relying on the build time prefix of the sourced script
COLCON_CURRENT_PREFIX="/opt/ros/humble"
_colcon_prefix_chain_sh_source_script "$COLCON_CURRENT_PREFIX/local_setup.sh"
# source this prefix
# setting COLCON_CURRENT_PREFIX avoids relying on the build time prefix of the sourced script
COLCON_CURRENT_PREFIX="$_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX"
_colcon_prefix_chain_sh_source_script "$COLCON_CURRENT_PREFIX/local_setup.sh"
unset _colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX
unset _colcon_prefix_chain_sh_source_script
unset COLCON_CURRENT_PREFIX

31
ros2_driver/src/ti_mmwave_rospkg/src/install/setup.zsh
View File

@@ -1,31 +0,0 @@
# generated from colcon_zsh/shell/template/prefix_chain.zsh.em
# This script extends the environment with the environment of other prefix
# paths which were sourced when this file was generated as well as all packages
# contained in this prefix path.
# function to source another script with conditional trace output
# first argument: the path of the script
_colcon_prefix_chain_zsh_source_script() {
if [ -f "$1" ]; then
if [ -n "$COLCON_TRACE" ]; then
echo ". \"$1\""
fi
. "$1"
else
echo "not found: \"$1\"" 1>&2
fi
}
# source chained prefixes
# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
COLCON_CURRENT_PREFIX="/opt/ros/humble"
_colcon_prefix_chain_zsh_source_script "$COLCON_CURRENT_PREFIX/local_setup.zsh"
# source this prefix
# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd)"
_colcon_prefix_chain_zsh_source_script "$COLCON_CURRENT_PREFIX/local_setup.zsh"
unset COLCON_CURRENT_PREFIX
unset _colcon_prefix_chain_zsh_source_script

0
ros2_driver/src/ti_mmwave_rospkg/src/log/COLCON_IGNORE
View File

2
ros2_driver/src/ti_mmwave_rospkg/src/log/build_2023-08-28_13-04-01/events.log
View File

@@ -1,2 +0,0 @@
[0.000000] (-) TimerEvent: {}
[0.000528] (-) EventReactorShutdown: {}

62
ros2_driver/src/ti_mmwave_rospkg/src/log/build_2023-08-28_13-04-01/logger_all.log
View File

@@ -1,62 +0,0 @@
[0.774s] DEBUG:colcon:Command line arguments: ['/usr/bin/colcon', 'build']
[0.774s] DEBUG:colcon:Parsed command line arguments: Namespace(log_base=None, log_level=None, verb_name='build', build_base='build', install_base='install', merge_install=False, symlink_install=False, test_result_base=None, continue_on_error=False, executor='parallel', parallel_workers=4, event_handlers=None, ignore_user_meta=False, metas=['./colcon.meta'], base_paths=['.'], packages_ignore=None, packages_ignore_regex=None, paths=None, packages_up_to=None, packages_up_to_regex=None, packages_above=None, packages_above_and_dependencies=None, packages_above_depth=None, packages_select_by_dep=None, packages_skip_by_dep=None, packages_skip_up_to=None, packages_select_build_failed=False, packages_skip_build_finished=False, packages_select_test_failures=False, packages_skip_test_passed=False, packages_select=None, packages_skip=None, packages_select_regex=None, packages_skip_regex=None, packages_start=None, packages_end=None, allow_overriding=[], cmake_args=None, cmake_target=None, cmake_target_skip_unavailable=False, cmake_clean_cache=False, cmake_clean_first=False, cmake_force_configure=False, ament_cmake_args=None, catkin_cmake_args=None, catkin_skip_building_tests=False, verb_parser=<colcon_defaults.argument_parser.defaults.DefaultArgumentsDecorator object at 0x7f6f676af490>, verb_extension=<colcon_core.verb.build.BuildVerb object at 0x7f6f67ef8a00>, main=<bound method BuildVerb.main of <colcon_core.verb.build.BuildVerb object at 0x7f6f67ef8a00>>)
[0.848s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) check parameters
[0.849s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) check parameters
[0.849s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) check parameters
[0.849s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) check parameters
[0.849s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) discover
[0.849s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) discover
[0.849s] INFO:colcon.colcon_core.package_discovery:Crawling recursively for packages in '/home/rosi2/ros2_driver/src/ti_mmwave_rospkg/src'
[0.849s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ignore', 'ignore_ament_install']
[0.849s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore'
[0.849s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore_ament_install'
[0.849s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_pkg']
[0.850s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_pkg'
[0.850s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_meta']
[0.850s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_meta'
[0.850s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ros']
[0.850s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ros'
[0.872s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['cmake', 'python']
[0.872s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'cmake'
[0.872s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python'
[0.872s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['python_setup_py']
[0.872s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python_setup_py'
[0.872s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extensions ['ignore', 'ignore_ament_install']
[0.872s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extension 'ignore'
[0.872s] Level 1:colcon.colcon_core.package_identification:_identify(build) ignored
[0.872s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extensions ['ignore', 'ignore_ament_install']
[0.872s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extension 'ignore'
[0.873s] Level 1:colcon.colcon_core.package_identification:_identify(install) ignored
[0.873s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extensions ['ignore', 'ignore_ament_install']
[0.873s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extension 'ignore'
[0.873s] Level 1:colcon.colcon_core.package_identification:_identify(log) ignored
[0.873s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) using defaults
[0.873s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) discover
[0.873s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) using defaults
[0.873s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) discover
[0.873s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) using defaults
[0.917s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) check parameters
[0.917s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) discover
[0.924s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 271 installed packages in /opt/ros/humble
[0.927s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) using defaults
[1.053s] INFO:colcon.colcon_core.executor:Executing jobs using 'parallel' executor
[1.058s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete
[1.058s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:closing loop
[1.059s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:loop closed
[1.059s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete finished with '0'
[1.059s] DEBUG:colcon.colcon_core.event_reactor:joining thread
[1.068s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.terminal_notifier': Not used on non-Darwin systems
[1.068s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.win32': Not used on non-Windows systems
[1.068s] INFO:colcon.colcon_notification.desktop_notification:Sending desktop notification using 'notify2'
[1.102s] DEBUG:colcon.colcon_core.event_reactor:joined thread
[1.114s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_core.shell.bat': Not used on non-Windows systems
[1.115s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/rosi2/ros2_driver/src/ti_mmwave_rospkg/src/install/local_setup.ps1'
[1.117s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/rosi2/ros2_driver/src/ti_mmwave_rospkg/src/install/_local_setup_util_ps1.py'
[1.118s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/rosi2/ros2_driver/src/ti_mmwave_rospkg/src/install/setup.ps1'
[1.121s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/rosi2/ros2_driver/src/ti_mmwave_rospkg/src/install/local_setup.sh'
[1.121s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/rosi2/ros2_driver/src/ti_mmwave_rospkg/src/install/_local_setup_util_sh.py'
[1.122s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/rosi2/ros2_driver/src/ti_mmwave_rospkg/src/install/setup.sh'
[1.124s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/rosi2/ros2_driver/src/ti_mmwave_rospkg/src/install/local_setup.bash'
[1.124s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/rosi2/ros2_driver/src/ti_mmwave_rospkg/src/install/setup.bash'
[1.126s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/rosi2/ros2_driver/src/ti_mmwave_rospkg/src/install/local_setup.zsh'
[1.126s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/rosi2/ros2_driver/src/ti_mmwave_rospkg/src/install/setup.zsh'

2
ros2_driver/src/ti_mmwave_rospkg/src/log/latest/events.log
View File

@@ -1,2 +0,0 @@
[0.000000] (-) TimerEvent: {}
[0.000528] (-) EventReactorShutdown: {}

62
ros2_driver/src/ti_mmwave_rospkg/src/log/latest/logger_all.log
View File

@@ -1,62 +0,0 @@
[0.774s] DEBUG:colcon:Command line arguments: ['/usr/bin/colcon', 'build']
[0.774s] DEBUG:colcon:Parsed command line arguments: Namespace(log_base=None, log_level=None, verb_name='build', build_base='build', install_base='install', merge_install=False, symlink_install=False, test_result_base=None, continue_on_error=False, executor='parallel', parallel_workers=4, event_handlers=None, ignore_user_meta=False, metas=['./colcon.meta'], base_paths=['.'], packages_ignore=None, packages_ignore_regex=None, paths=None, packages_up_to=None, packages_up_to_regex=None, packages_above=None, packages_above_and_dependencies=None, packages_above_depth=None, packages_select_by_dep=None, packages_skip_by_dep=None, packages_skip_up_to=None, packages_select_build_failed=False, packages_skip_build_finished=False, packages_select_test_failures=False, packages_skip_test_passed=False, packages_select=None, packages_skip=None, packages_select_regex=None, packages_skip_regex=None, packages_start=None, packages_end=None, allow_overriding=[], cmake_args=None, cmake_target=None, cmake_target_skip_unavailable=False, cmake_clean_cache=False, cmake_clean_first=False, cmake_force_configure=False, ament_cmake_args=None, catkin_cmake_args=None, catkin_skip_building_tests=False, verb_parser=<colcon_defaults.argument_parser.defaults.DefaultArgumentsDecorator object at 0x7f6f676af490>, verb_extension=<colcon_core.verb.build.BuildVerb object at 0x7f6f67ef8a00>, main=<bound method BuildVerb.main of <colcon_core.verb.build.BuildVerb object at 0x7f6f67ef8a00>>)
[0.848s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) check parameters
[0.849s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) check parameters
[0.849s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) check parameters
[0.849s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) check parameters
[0.849s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) discover
[0.849s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) discover
[0.849s] INFO:colcon.colcon_core.package_discovery:Crawling recursively for packages in '/home/rosi2/ros2_driver/src/ti_mmwave_rospkg/src'
[0.849s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ignore', 'ignore_ament_install']
[0.849s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore'
[0.849s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore_ament_install'
[0.849s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_pkg']
[0.850s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_pkg'
[0.850s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_meta']
[0.850s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_meta'
[0.850s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ros']
[0.850s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ros'
[0.872s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['cmake', 'python']
[0.872s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'cmake'
[0.872s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python'
[0.872s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['python_setup_py']
[0.872s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python_setup_py'
[0.872s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extensions ['ignore', 'ignore_ament_install']
[0.872s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extension 'ignore'
[0.872s] Level 1:colcon.colcon_core.package_identification:_identify(build) ignored
[0.872s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extensions ['ignore', 'ignore_ament_install']
[0.872s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extension 'ignore'
[0.873s] Level 1:colcon.colcon_core.package_identification:_identify(install) ignored
[0.873s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extensions ['ignore', 'ignore_ament_install']
[0.873s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extension 'ignore'
[0.873s] Level 1:colcon.colcon_core.package_identification:_identify(log) ignored
[0.873s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) using defaults
[0.873s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) discover
[0.873s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) using defaults
[0.873s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) discover
[0.873s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) using defaults
[0.917s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) check parameters
[0.917s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) discover
[0.924s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 271 installed packages in /opt/ros/humble
[0.927s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) using defaults
[1.053s] INFO:colcon.colcon_core.executor:Executing jobs using 'parallel' executor
[1.058s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete
[1.058s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:closing loop
[1.059s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:loop closed
[1.059s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete finished with '0'
[1.059s] DEBUG:colcon.colcon_core.event_reactor:joining thread
[1.068s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.terminal_notifier': Not used on non-Darwin systems
[1.068s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.win32': Not used on non-Windows systems
[1.068s] INFO:colcon.colcon_notification.desktop_notification:Sending desktop notification using 'notify2'
[1.102s] DEBUG:colcon.colcon_core.event_reactor:joined thread
[1.114s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_core.shell.bat': Not used on non-Windows systems
[1.115s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/rosi2/ros2_driver/src/ti_mmwave_rospkg/src/install/local_setup.ps1'
[1.117s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/rosi2/ros2_driver/src/ti_mmwave_rospkg/src/install/_local_setup_util_ps1.py'
[1.118s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/rosi2/ros2_driver/src/ti_mmwave_rospkg/src/install/setup.ps1'
[1.121s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/rosi2/ros2_driver/src/ti_mmwave_rospkg/src/install/local_setup.sh'
[1.121s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/rosi2/ros2_driver/src/ti_mmwave_rospkg/src/install/_local_setup_util_sh.py'
[1.122s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/rosi2/ros2_driver/src/ti_mmwave_rospkg/src/install/setup.sh'
[1.124s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/rosi2/ros2_driver/src/ti_mmwave_rospkg/src/install/local_setup.bash'
[1.124s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/rosi2/ros2_driver/src/ti_mmwave_rospkg/src/install/setup.bash'
[1.126s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/rosi2/ros2_driver/src/ti_mmwave_rospkg/src/install/local_setup.zsh'
[1.126s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/rosi2/ros2_driver/src/ti_mmwave_rospkg/src/install/setup.zsh'

2
ros2_driver/src/ti_mmwave_rospkg/src/log/latest_build/events.log
View File

@@ -1,2 +0,0 @@
[0.000000] (-) TimerEvent: {}
[0.000528] (-) EventReactorShutdown: {}

62
ros2_driver/src/ti_mmwave_rospkg/src/log/latest_build/logger_all.log
View File

@@ -1,62 +0,0 @@
[0.774s] DEBUG:colcon:Command line arguments: ['/usr/bin/colcon', 'build']
[0.774s] DEBUG:colcon:Parsed command line arguments: Namespace(log_base=None, log_level=None, verb_name='build', build_base='build', install_base='install', merge_install=False, symlink_install=False, test_result_base=None, continue_on_error=False, executor='parallel', parallel_workers=4, event_handlers=None, ignore_user_meta=False, metas=['./colcon.meta'], base_paths=['.'], packages_ignore=None, packages_ignore_regex=None, paths=None, packages_up_to=None, packages_up_to_regex=None, packages_above=None, packages_above_and_dependencies=None, packages_above_depth=None, packages_select_by_dep=None, packages_skip_by_dep=None, packages_skip_up_to=None, packages_select_build_failed=False, packages_skip_build_finished=False, packages_select_test_failures=False, packages_skip_test_passed=False, packages_select=None, packages_skip=None, packages_select_regex=None, packages_skip_regex=None, packages_start=None, packages_end=None, allow_overriding=[], cmake_args=None, cmake_target=None, cmake_target_skip_unavailable=False, cmake_clean_cache=False, cmake_clean_first=False, cmake_force_configure=False, ament_cmake_args=None, catkin_cmake_args=None, catkin_skip_building_tests=False, verb_parser=<colcon_defaults.argument_parser.defaults.DefaultArgumentsDecorator object at 0x7f6f676af490>, verb_extension=<colcon_core.verb.build.BuildVerb object at 0x7f6f67ef8a00>, main=<bound method BuildVerb.main of <colcon_core.verb.build.BuildVerb object at 0x7f6f67ef8a00>>)
[0.848s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) check parameters
[0.849s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) check parameters
[0.849s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) check parameters
[0.849s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) check parameters
[0.849s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) discover
[0.849s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) discover
[0.849s] INFO:colcon.colcon_core.package_discovery:Crawling recursively for packages in '/home/rosi2/ros2_driver/src/ti_mmwave_rospkg/src'
[0.849s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ignore', 'ignore_ament_install']
[0.849s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore'
[0.849s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore_ament_install'
[0.849s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_pkg']
[0.850s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_pkg'
[0.850s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_meta']
[0.850s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_meta'
[0.850s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ros']
[0.850s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ros'
[0.872s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['cmake', 'python']
[0.872s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'cmake'
[0.872s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python'
[0.872s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['python_setup_py']
[0.872s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python_setup_py'
[0.872s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extensions ['ignore', 'ignore_ament_install']
[0.872s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extension 'ignore'
[0.872s] Level 1:colcon.colcon_core.package_identification:_identify(build) ignored
[0.872s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extensions ['ignore', 'ignore_ament_install']
[0.872s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extension 'ignore'
[0.873s] Level 1:colcon.colcon_core.package_identification:_identify(install) ignored
[0.873s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extensions ['ignore', 'ignore_ament_install']
[0.873s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extension 'ignore'
[0.873s] Level 1:colcon.colcon_core.package_identification:_identify(log) ignored
[0.873s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) using defaults
[0.873s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) discover
[0.873s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) using defaults
[0.873s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) discover
[0.873s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) using defaults
[0.917s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) check parameters
[0.917s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) discover
[0.924s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 271 installed packages in /opt/ros/humble
[0.927s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) using defaults
[1.053s] INFO:colcon.colcon_core.executor:Executing jobs using 'parallel' executor
[1.058s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete
[1.058s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:closing loop
[1.059s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:loop closed
[1.059s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete finished with '0'
[1.059s] DEBUG:colcon.colcon_core.event_reactor:joining thread
[1.068s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.terminal_notifier': Not used on non-Darwin systems
[1.068s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.win32': Not used on non-Windows systems
[1.068s] INFO:colcon.colcon_notification.desktop_notification:Sending desktop notification using 'notify2'
[1.102s] DEBUG:colcon.colcon_core.event_reactor:joined thread
[1.114s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_core.shell.bat': Not used on non-Windows systems
[1.115s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/rosi2/ros2_driver/src/ti_mmwave_rospkg/src/install/local_setup.ps1'
[1.117s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/rosi2/ros2_driver/src/ti_mmwave_rospkg/src/install/_local_setup_util_ps1.py'
[1.118s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/rosi2/ros2_driver/src/ti_mmwave_rospkg/src/install/setup.ps1'
[1.121s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/rosi2/ros2_driver/src/ti_mmwave_rospkg/src/install/local_setup.sh'
[1.121s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/rosi2/ros2_driver/src/ti_mmwave_rospkg/src/install/_local_setup_util_sh.py'
[1.122s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/rosi2/ros2_driver/src/ti_mmwave_rospkg/src/install/setup.sh'
[1.124s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/rosi2/ros2_driver/src/ti_mmwave_rospkg/src/install/local_setup.bash'
[1.124s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/rosi2/ros2_driver/src/ti_mmwave_rospkg/src/install/setup.bash'
[1.126s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/rosi2/ros2_driver/src/ti_mmwave_rospkg/src/install/local_setup.zsh'
[1.126s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/rosi2/ros2_driver/src/ti_mmwave_rospkg/src/install/setup.zsh'

32
ros2_driver/src/ti_mmwave_rospkg/src/mmWaveCommSrv.cpp
View File

@@ -14,7 +14,7 @@
/*Include ROS specific headers*/
#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"
#include "serial/serial.h"
#include "serial/serial.h"
#include "pluginlib/class_list_macros.hpp"
/*mmWave Driver Headers*/
@@ -26,43 +26,43 @@ using namespace std::chrono_literals;
std::shared_ptr<rclcpp::Node> nodeptr2 = nullptr;
class mmWaveCommSrv : public rclcpp::Node
{
{
public:
mmWaveCommSrv() : Node("mmWaveCommSrv")
{
this->declare_parameter("command_port", rclcpp::PARAMETER_STRING);
this->declare_parameter("command_rate", rclcpp::PARAMETER_STRING);
this->declare_parameter("data_port", rclcpp::PARAMETER_STRING);
this->declare_parameter("data_rate", rclcpp::PARAMETER_STRING);
this->declare_parameter("max_allowed_elevation_angle_deg", rclcpp::PARAMETER_STRING);
this->declare_parameter("max_allowed_azimuth_angle_deg", rclcpp::PARAMETER_STRING);
this->declare_parameter("frame_id", rclcpp::PARAMETER_STRING);
this->declare_parameter("mmwavecli_name", rclcpp::PARAMETER_STRING);
this->declare_parameter("/ti_mmwave/radar_scan_pcl", rclcpp::PARAMETER_STRING);
// this->declare_parameter("data_port", rclcpp::PARAMETER_STRING);
// this->declare_parameter("data_rate", rclcpp::PARAMETER_STRING);
// this->declare_parameter("max_allowed_elevation_angle_deg", rclcpp::PARAMETER_STRING);
// this->declare_parameter("max_allowed_azimuth_angle_deg", rclcpp::PARAMETER_STRING);
// this->declare_parameter("frame_id", rclcpp::PARAMETER_STRING);
// this->declare_parameter("mmwavecli_name", rclcpp::PARAMETER_STRING);
// this->declare_parameter("/ti_mmwave/radar_scan_pcl", rclcpp::PARAMETER_STRING);
}
private:
};
void handle_service_request(const std::shared_ptr<ti_mmwave_rospkg_msgs::srv::MmwaveCli::Request> request,
void handle_service_request(const std::shared_ptr<ti_mmwave_rospkg_msgs::srv::MmwaveCli::Request> request,
const std::shared_ptr<ti_mmwave_rospkg_msgs::srv::MmwaveCli::Response> response)
{
std::string mySerialPort = nodeptr2->get_parameter("command_port").as_string();
std::string myBaudRate = nodeptr2->get_parameter("command_rate").as_string();
std::string mmWaveCLIName = nodeptr2->get_parameter("mmwavecli_name").as_string();
// std::string mmWaveCLIName = nodeptr2->get_parameter("mmwavecli_name").as_string();
std::string sensorStart = "sensorStart\n";
/*Open Serial port and error check*/
serial::Serial mySerialObject("", std::stoi(myBaudRate), serial::Timeout::simpleTimeout(1000));
mySerialObject.setPort(mySerialPort.c_str());
try
try
{
mySerialObject.open();
}
catch (std::exception &e1)
}
catch (std::exception &e1)
{
RCLCPP_ERROR(rclcpp::get_logger("rclcpp"),"\n\n\nmmWaveCommSrv: Failed to open User serial port with error: %s\n\n", e1.what());
RCLCPP_ERROR(rclcpp::get_logger("rclcpp"),"\n\n\nmmWaveCommSrv: Power cycle the mmWave Sensor with the reset button while keeping the USB connected. Ensure the correct launch and configuration files are being used. Close all nodes, wait 10 Seconds, then relaunch the driver\n\n");
@@ -72,7 +72,7 @@ void handle_service_request(const std::shared_ptr<ti_mmwave_rospkg_msgs::srv::Mm
/*Read any previous pending response(s)*/
while (mySerialObject.available() > 0)
{
{
mySerialObject.readline(response->resp, 1024, ":/>");
//RCLCPP_INFO(rclcpp::get_logger("rclcpp"),"mmWaveCommSrv: Received (previous) response from sensor: '%s'", response->resp.c_str());
response->resp = "";
@@ -92,7 +92,7 @@ void handle_service_request(const std::shared_ptr<ti_mmwave_rospkg_msgs::srv::Mm
if(!sensorStart.compare(request->comm))
{
rclcpp::shutdown();
exit(0);
exit(0);
}
}

2
ros2_driver/src/ti_mmwave_rospkg/src/mmWaveQuickConfig.cpp
View File

@@ -38,7 +38,7 @@ int main(int argc, char **argv) {
rclcpp::Client<ti_mmwave_rospkg_msgs::srv::MmwaveCli>::SharedPtr client = nodeptr->create_client<ti_mmwave_rospkg_msgs::srv::MmwaveCli>("/ti_mmwave_rospkg_msgs/mmwave_cli");
auto request = std::make_shared<ti_mmwave_rospkg_msgs::srv::MmwaveCli::Request>();
auto response = std::make_shared<ti_mmwave_rospkg_msgs::srv::MmwaveCli::Response>();
std::string mmWaveCLIname = nodeptr->get_parameter("mmwavecli_name").as_string();
// std::string mmWaveCLIname = nodeptr->get_parameter("mmwavecli_name").as_string();
std::string mmWaveCLIcfg = nodeptr->get_parameter("mmwavecli_cfg").as_string();
std::string sensorStart = "sensorStart";

13
ros2_driver/src/ti_mmwave_rospkg_msgs/CMakeLists.txt
View File

@@ -9,14 +9,10 @@ project(ti_mmwave_rospkg_msgs)
## dependencies
find_package(ament_cmake REQUIRED)
find_package(rosidl_default_generators REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
## Generate messages in the 'msg' folder
set(msg_files
"msg/RadarScan.msg"
@@ -33,14 +29,9 @@ set(srv_files
rosidl_generate_interfaces(ti_mmwave_rospkg_msgs
${msg_files}
${srv_files}
DEPENDENCIES std_msgs
)
## ament_target_dependencies(std_msgs rclcpp)
ament_export_dependencies(
rosidl_default_runtime
std_msgs
rclcpp
)
ament_export_dependencies(rosidl_default_runtime)
ament_package()

4
ros2_driver/src/ti_mmwave_rospkg_msgs/msg/RadarOccupancy.msg
View File

@@ -1,4 +1,2 @@
uint32 seq
uint32 stamp
string frame_id
std_msgs/Header header
uint32 state

5
ros2_driver/src/ti_mmwave_rospkg_msgs/msg/RadarPointTrackID.msg
View File

@@ -1,3 +1,2 @@
string frame_id
uint32 stamp
uint8 tid
std_msgs/Header header
uint8 tid

4
ros2_driver/src/ti_mmwave_rospkg_msgs/msg/RadarScan.msg
View File

@@ -1,6 +1,4 @@
uint32 seq
uint32 stamp
string frame_id
std_msgs/Header header
uint16 point_id
float32 x
float32 y

3
ros2_driver/src/ti_mmwave_rospkg_msgs/msg/RadarTrackArray.msg
View File

@@ -1,4 +1,3 @@
string frame_id
uint32 stamp
std_msgs/Header header
uint32 num_tracks
RadarTrackContents[] track

3
ros2_driver/src/ti_mmwave_rospkg_msgs/msg/RadarTrackContents.msg
View File

@@ -1,5 +1,4 @@
string frame_id
uint32 stamp
std_msgs/Header header
uint32 tid
float32 posx
float32 posy