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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
Download Patch File Download Diff File Expand all files Collapse all files

4
ros2_driver/src/ti_mmwave_rospkg/include/DataHandlerClass.h
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@@ -60,7 +60,7 @@ public:
/*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);
@@ -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;

119
ros2_driver/src/ti_mmwave_rospkg/launch/6843AOP_Standard.py
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@@ -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
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@@ -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
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@@ -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
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@@ -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:

76
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){
// if (radaroccupancy.state == 0){
// RCLCPP_INFO(rclcpp::get_logger("rclcpp"),"Area is clear!");
}
else{
// }
// 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();
}

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

@@ -89,7 +89,7 @@ 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);

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'

16
ros2_driver/src/ti_mmwave_rospkg/src/mmWaveCommSrv.cpp
View File

@@ -33,13 +33,13 @@ public:
{
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:
@@ -52,7 +52,7 @@ void handle_service_request(const std::shared_ptr<ti_mmwave_rospkg_msgs::srv::Mm
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*/

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

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

@@ -1,3 +1,2 @@
string frame_id
uint32 stamp
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