From 85d0b7769f405e732336a73216af8dfa12507b5c Mon Sep 17 00:00:00 2001 From: Cx330 <1487537121@qq.com> Date: Tue, 1 Jul 2025 22:38:49 +0800 Subject: [PATCH] =?UTF-8?q?=E9=87=8D=E5=A1=91=E7=A8=8B=E5=BA=8F?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- build/CMakeCache.txt | 59 +- build/CMakeFiles/CMakeError.log | 34 +- build/CMakeFiles/CMakeOutput.log | 168 ++--- build/CMakeFiles/Makefile.cmake | 94 +-- build/CMakeFiles/Makefile2 | 582 +----------------- build/CMakeFiles/TargetDirectories.txt | 27 - build/CTestTestfile.cmake | 1 - build/Makefile | 280 --------- .../{.rosinstall.rbJn9 => .rosinstall.FIgIC} | 0 ...tup_util.py.58qYD => _setup_util.py.BYXU0} | 2 +- .../{env.sh.zpmcE => env.sh.CNCok} | 0 ...etup.bash.U5vN6 => local_setup.bash.CL1bf} | 0 ...etup.fish.Fciqa => local_setup.fish.4kmVG} | 0 ...al_setup.sh.afYt8 => local_setup.sh.lq9rU} | 0 ..._setup.zsh.PUH92 => local_setup.zsh.3AsGZ} | 0 .../{setup.bash.ASJDp => setup.bash.AXeEQ} 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16 - .../pkg.develspace.context.pc.py | 8 - .../pkg.installspace.context.pc.py | 8 - .../stamps/position_demo/package.xml.stamp | 71 --- .../stamps/position_demo/pkg.pc.em.stamp | 8 - build/position_demo/cmake_install.cmake | 54 -- devel/_setup_util.py | 2 +- devel/lib/pkgconfig/position_demo.pc | 8 - .../cmake/position_demoConfig-version.cmake | 14 - .../cmake/position_demoConfig.cmake | 225 ------- .../CMakeLists.txt | 17 +- .../package.xml | 13 +- src/Topic_Newsletter/scripts/Publisher_TN.py | 27 + src/Topic_Newsletter/scripts/Subscriber_TN.py | 91 +++ src/position_demo/scripts/fft_service.py | 23 - src/position_demo/scripts/publisher_node.py | 31 - .../scripts/publisher_node_three.py | 31 - src/position_demo/scripts/subscriber_node.py | 57 -- .../scripts/subscriber_node_three.py | 70 --- src/position_demo/srv/FftService.srv | 3 - 135 files changed, 256 insertions(+), 4352 deletions(-) rename build/atomic_configure/{.rosinstall.rbJn9 => .rosinstall.FIgIC} (100%) rename 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build/position_demo/catkin_generated/package.cmake delete mode 100644 build/position_demo/catkin_generated/pkg.develspace.context.pc.py delete mode 100644 build/position_demo/catkin_generated/pkg.installspace.context.pc.py delete mode 100644 build/position_demo/catkin_generated/stamps/position_demo/package.xml.stamp delete mode 100644 build/position_demo/catkin_generated/stamps/position_demo/pkg.pc.em.stamp delete mode 100644 build/position_demo/cmake_install.cmake delete mode 100644 devel/lib/pkgconfig/position_demo.pc delete mode 100644 devel/share/position_demo/cmake/position_demoConfig-version.cmake delete mode 100644 devel/share/position_demo/cmake/position_demoConfig.cmake rename src/{position_demo => Topic_Newsletter}/CMakeLists.txt (94%) rename src/{position_demo => Topic_Newsletter}/package.xml (87%) create mode 100644 src/Topic_Newsletter/scripts/Publisher_TN.py create mode 100644 src/Topic_Newsletter/scripts/Subscriber_TN.py delete mode 100644 src/position_demo/scripts/fft_service.py delete mode 100755 src/position_demo/scripts/publisher_node.py delete mode 100755 src/position_demo/scripts/publisher_node_three.py delete mode 100755 src/position_demo/scripts/subscriber_node.py delete mode 100755 src/position_demo/scripts/subscriber_node_three.py delete mode 100644 src/position_demo/srv/FftService.srv diff --git a/build/CMakeCache.txt b/build/CMakeCache.txt index 68fcc46..044924d 100644 --- a/build/CMakeCache.txt +++ b/build/CMakeCache.txt @@ -394,36 +394,9 @@ _gtest_INCLUDES:FILEPATH=/usr/include/gtest/gtest.h //Path to a file. _gtest_SOURCES:FILEPATH=/usr/src/gtest/src/gtest.cc -//The directory containing a CMake configuration file for actionlib_msgs. -actionlib_msgs_DIR:PATH=/opt/ros/noetic/share/actionlib_msgs/cmake - //The directory containing a CMake configuration file for catkin. catkin_DIR:PATH=/opt/ros/noetic/share/catkin/cmake -//The directory containing a CMake configuration file for cpp_common. -cpp_common_DIR:PATH=/opt/ros/noetic/share/cpp_common/cmake - -//The directory containing a CMake configuration file for gencpp. -gencpp_DIR:PATH=/opt/ros/noetic/share/gencpp/cmake - -//The directory containing a CMake configuration file for geneus. -geneus_DIR:PATH=/opt/ros/noetic/share/geneus/cmake - -//The directory containing a CMake configuration file for genlisp. -genlisp_DIR:PATH=/opt/ros/noetic/share/genlisp/cmake - -//The directory containing a CMake configuration file for genmsg. -genmsg_DIR:PATH=/opt/ros/noetic/share/genmsg/cmake - -//The directory containing a CMake configuration file for gennodejs. -gennodejs_DIR:PATH=/opt/ros/noetic/share/gennodejs/cmake - -//The directory containing a CMake configuration file for genpy. -genpy_DIR:PATH=/opt/ros/noetic/share/genpy/cmake - -//The directory containing a CMake configuration file for geometry_msgs. -geometry_msgs_DIR:PATH=/opt/ros/noetic/share/geometry_msgs/cmake - //Value Computed by CMake gmock_BINARY_DIR:STATIC=/home/zmn/Gitea/ROS_Learn/build/gtest/googlemock @@ -470,36 +443,6 @@ gtest_hide_internal_symbols:BOOL=OFF //Dependencies for the target gtest_main_LIB_DEPENDS:STATIC=general;gtest; -//Path to a library. -lib:FILEPATH=/opt/ros/noetic/lib/librostime.so - -//The directory containing a CMake configuration file for message_runtime. -message_runtime_DIR:PATH=/opt/ros/noetic/share/message_runtime/cmake - -//The directory containing a CMake configuration file for nav_msgs. -nav_msgs_DIR:PATH=/opt/ros/noetic/share/nav_msgs/cmake - -//Value Computed by CMake -position_demo_BINARY_DIR:STATIC=/home/zmn/Gitea/ROS_Learn/build/position_demo - -//Value Computed by CMake -position_demo_SOURCE_DIR:STATIC=/home/zmn/Gitea/ROS_Learn/src/position_demo - -//The directory containing a CMake configuration file for roscpp_serialization. -roscpp_serialization_DIR:PATH=/opt/ros/noetic/share/roscpp_serialization/cmake - -//The directory containing a CMake configuration file for roscpp_traits. -roscpp_traits_DIR:PATH=/opt/ros/noetic/share/roscpp_traits/cmake - -//The directory containing a CMake configuration file for rospy. -rospy_DIR:PATH=/opt/ros/noetic/share/rospy/cmake - -//The directory containing a CMake configuration file for rostime. -rostime_DIR:PATH=/opt/ros/noetic/share/rostime/cmake - -//The directory containing a CMake configuration file for std_msgs. -std_msgs_DIR:PATH=/opt/ros/noetic/share/std_msgs/cmake - ######################## # INTERNAL cache entries @@ -648,7 +591,7 @@ CMAKE_MODULE_LINKER_FLAGS_RELWITHDEBINFO-ADVANCED:INTERNAL=1 //ADVANCED property for variable: CMAKE_NM CMAKE_NM-ADVANCED:INTERNAL=1 //number of local generators -CMAKE_NUMBER_OF_MAKEFILES:INTERNAL=5 +CMAKE_NUMBER_OF_MAKEFILES:INTERNAL=4 //ADVANCED property for variable: CMAKE_OBJCOPY CMAKE_OBJCOPY-ADVANCED:INTERNAL=1 //ADVANCED property for variable: CMAKE_OBJDUMP diff --git a/build/CMakeFiles/CMakeError.log b/build/CMakeFiles/CMakeError.log index 47b8aef..b2574d2 100644 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arg [CMakeFiles/cmTC_abf87.dir/CMakeCXXCompilerABI.cpp.o] ==> ignore + arg [CMakeFiles/cmTC_4fb87.dir/CMakeCXXCompilerABI.cpp.o] ==> ignore arg [-lstdc++] ==> lib [stdc++] arg [-lm] ==> lib [m] arg [-lgcc_s] ==> lib [gcc_s] @@ -464,13 +464,13 @@ Parsed CXX implicit link information from above output: Determining if the include file pthread.h exists passed with the following output: Change Dir: /home/zmn/Gitea/ROS_Learn/build/CMakeFiles/CMakeTmp -Run Build Command(s):/usr/bin/make cmTC_ddf0a/fast && /usr/bin/make -f CMakeFiles/cmTC_ddf0a.dir/build.make CMakeFiles/cmTC_ddf0a.dir/build +Run Build Command(s):/usr/bin/make cmTC_6fb17/fast && /usr/bin/make -f CMakeFiles/cmTC_6fb17.dir/build.make CMakeFiles/cmTC_6fb17.dir/build make[1]: 进入目录“/home/zmn/Gitea/ROS_Learn/build/CMakeFiles/CMakeTmp” -Building C object CMakeFiles/cmTC_ddf0a.dir/CheckIncludeFile.c.o -/usr/bin/cc -o CMakeFiles/cmTC_ddf0a.dir/CheckIncludeFile.c.o -c /home/zmn/Gitea/ROS_Learn/build/CMakeFiles/CMakeTmp/CheckIncludeFile.c -Linking C executable cmTC_ddf0a -/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_ddf0a.dir/link.txt --verbose=1 -/usr/bin/cc -rdynamic CMakeFiles/cmTC_ddf0a.dir/CheckIncludeFile.c.o -o cmTC_ddf0a +Building C object CMakeFiles/cmTC_6fb17.dir/CheckIncludeFile.c.o +/usr/bin/cc -o CMakeFiles/cmTC_6fb17.dir/CheckIncludeFile.c.o -c /home/zmn/Gitea/ROS_Learn/build/CMakeFiles/CMakeTmp/CheckIncludeFile.c +Linking C executable cmTC_6fb17 +/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_6fb17.dir/link.txt --verbose=1 +/usr/bin/cc -rdynamic CMakeFiles/cmTC_6fb17.dir/CheckIncludeFile.c.o -o cmTC_6fb17 make[1]: 离开目录“/home/zmn/Gitea/ROS_Learn/build/CMakeFiles/CMakeTmp” @@ -478,13 +478,13 @@ make[1]: 离开目录“/home/zmn/Gitea/ROS_Learn/build/CMakeFiles/CMakeTmp” Determining if the function pthread_create exists in the pthread passed with the following output: Change Dir: /home/zmn/Gitea/ROS_Learn/build/CMakeFiles/CMakeTmp -Run Build Command(s):/usr/bin/make cmTC_0515a/fast && /usr/bin/make -f CMakeFiles/cmTC_0515a.dir/build.make CMakeFiles/cmTC_0515a.dir/build +Run Build Command(s):/usr/bin/make cmTC_80b4f/fast && /usr/bin/make -f CMakeFiles/cmTC_80b4f.dir/build.make CMakeFiles/cmTC_80b4f.dir/build make[1]: 进入目录“/home/zmn/Gitea/ROS_Learn/build/CMakeFiles/CMakeTmp” -Building C object CMakeFiles/cmTC_0515a.dir/CheckFunctionExists.c.o -/usr/bin/cc -DCHECK_FUNCTION_EXISTS=pthread_create -o CMakeFiles/cmTC_0515a.dir/CheckFunctionExists.c.o -c /usr/share/cmake-3.16/Modules/CheckFunctionExists.c -Linking C executable cmTC_0515a -/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_0515a.dir/link.txt --verbose=1 -/usr/bin/cc -DCHECK_FUNCTION_EXISTS=pthread_create -rdynamic CMakeFiles/cmTC_0515a.dir/CheckFunctionExists.c.o -o cmTC_0515a -lpthread +Building C object CMakeFiles/cmTC_80b4f.dir/CheckFunctionExists.c.o +/usr/bin/cc -DCHECK_FUNCTION_EXISTS=pthread_create -o CMakeFiles/cmTC_80b4f.dir/CheckFunctionExists.c.o -c /usr/share/cmake-3.16/Modules/CheckFunctionExists.c +Linking C executable cmTC_80b4f +/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_80b4f.dir/link.txt --verbose=1 +/usr/bin/cc -DCHECK_FUNCTION_EXISTS=pthread_create -rdynamic CMakeFiles/cmTC_80b4f.dir/CheckFunctionExists.c.o -o cmTC_80b4f -lpthread make[1]: 离开目录“/home/zmn/Gitea/ROS_Learn/build/CMakeFiles/CMakeTmp” diff --git a/build/CMakeFiles/Makefile.cmake b/build/CMakeFiles/Makefile.cmake index 36828ab..803647e 100644 --- a/build/CMakeFiles/Makefile.cmake +++ b/build/CMakeFiles/Makefile.cmake @@ -13,15 +13,7 @@ set(CMAKE_MAKEFILE_DEPENDS "catkin/catkin_generated/version/package.cmake" "catkin_generated/installspace/_setup_util.py" "catkin_generated/order_packages.cmake" - 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-#============================================================================= -# Target rules for targets named nav_msgs_generate_messages_lisp - -# Build rule for target. -nav_msgs_generate_messages_lisp: cmake_check_build_system - $(MAKE) -f CMakeFiles/Makefile2 nav_msgs_generate_messages_lisp -.PHONY : nav_msgs_generate_messages_lisp - -# fast build rule for target. -nav_msgs_generate_messages_lisp/fast: - $(MAKE) -f position_demo/CMakeFiles/nav_msgs_generate_messages_lisp.dir/build.make position_demo/CMakeFiles/nav_msgs_generate_messages_lisp.dir/build -.PHONY : nav_msgs_generate_messages_lisp/fast - # Help Target help: @echo "The following are some of the valid targets for this Makefile:" @@ -566,26 +306,6 @@ help: @echo "... gmock" @echo "... gtest_main" @echo "... gtest" - @echo "... actionlib_msgs_generate_messages_py" - @echo "... actionlib_msgs_generate_messages_nodejs" - @echo "... actionlib_msgs_generate_messages_lisp" - @echo "... geometry_msgs_generate_messages_eus" - @echo "... actionlib_msgs_generate_messages_eus" - @echo "... geometry_msgs_generate_messages_cpp" - @echo "... geometry_msgs_generate_messages_nodejs" - @echo "... std_msgs_generate_messages_cpp" - @echo "... geometry_msgs_generate_messages_lisp" - @echo "... std_msgs_generate_messages_eus" - @echo "... actionlib_msgs_generate_messages_cpp" - @echo "... nav_msgs_generate_messages_py" - @echo "... std_msgs_generate_messages_lisp" - @echo "... nav_msgs_generate_messages_nodejs" - @echo "... std_msgs_generate_messages_nodejs" - @echo "... std_msgs_generate_messages_py" - @echo "... nav_msgs_generate_messages_eus" - @echo "... geometry_msgs_generate_messages_py" - @echo "... nav_msgs_generate_messages_cpp" - @echo "... nav_msgs_generate_messages_lisp" .PHONY : help diff --git a/build/atomic_configure/.rosinstall.rbJn9 b/build/atomic_configure/.rosinstall.FIgIC similarity index 100% rename from build/atomic_configure/.rosinstall.rbJn9 rename to build/atomic_configure/.rosinstall.FIgIC diff --git a/build/atomic_configure/_setup_util.py.58qYD b/build/atomic_configure/_setup_util.py.BYXU0 similarity index 99% rename from build/atomic_configure/_setup_util.py.58qYD rename to build/atomic_configure/_setup_util.py.BYXU0 index c8d8434..baaf5a0 100755 --- a/build/atomic_configure/_setup_util.py.58qYD +++ b/build/atomic_configure/_setup_util.py.BYXU0 @@ -268,7 +268,7 @@ if __name__ == '__main__': if not args.local: # environment at generation time - CMAKE_PREFIX_PATH = r'/opt/ros/noetic'.split(';') + CMAKE_PREFIX_PATH = r'/home/zmn/LocalSend/ROS/devel;/home/zmn/LocalSend/shiyan/devel;/opt/ros/noetic'.split(';') else: # don't consider any other prefix path than this one CMAKE_PREFIX_PATH = [] diff --git a/build/atomic_configure/env.sh.zpmcE b/build/atomic_configure/env.sh.CNCok similarity index 100% rename from build/atomic_configure/env.sh.zpmcE rename to build/atomic_configure/env.sh.CNCok diff --git a/build/atomic_configure/local_setup.bash.U5vN6 b/build/atomic_configure/local_setup.bash.CL1bf similarity index 100% rename from build/atomic_configure/local_setup.bash.U5vN6 rename to build/atomic_configure/local_setup.bash.CL1bf diff --git a/build/atomic_configure/local_setup.fish.Fciqa b/build/atomic_configure/local_setup.fish.4kmVG similarity index 100% rename from build/atomic_configure/local_setup.fish.Fciqa rename to build/atomic_configure/local_setup.fish.4kmVG diff --git a/build/atomic_configure/local_setup.sh.afYt8 b/build/atomic_configure/local_setup.sh.lq9rU similarity index 100% rename from build/atomic_configure/local_setup.sh.afYt8 rename to build/atomic_configure/local_setup.sh.lq9rU diff --git a/build/atomic_configure/local_setup.zsh.PUH92 b/build/atomic_configure/local_setup.zsh.3AsGZ similarity index 100% rename from build/atomic_configure/local_setup.zsh.PUH92 rename to build/atomic_configure/local_setup.zsh.3AsGZ diff --git a/build/atomic_configure/setup.bash.ASJDp b/build/atomic_configure/setup.bash.AXeEQ similarity index 100% rename from build/atomic_configure/setup.bash.ASJDp rename to build/atomic_configure/setup.bash.AXeEQ diff --git a/build/atomic_configure/setup.fish.oPTNd b/build/atomic_configure/setup.fish.EhTYK similarity index 100% rename from build/atomic_configure/setup.fish.oPTNd rename to build/atomic_configure/setup.fish.EhTYK diff --git a/build/atomic_configure/setup.sh.bYxSy b/build/atomic_configure/setup.sh.CP3gz similarity index 100% rename from build/atomic_configure/setup.sh.bYxSy rename to build/atomic_configure/setup.sh.CP3gz diff --git a/build/atomic_configure/setup.zsh.fq6fU b/build/atomic_configure/setup.zsh.t1eMb similarity index 100% rename from build/atomic_configure/setup.zsh.fq6fU rename to build/atomic_configure/setup.zsh.t1eMb diff --git a/build/catkin_generated/generate_cached_setup.py b/build/catkin_generated/generate_cached_setup.py index 78bdc3b..424dc99 100644 --- a/build/catkin_generated/generate_cached_setup.py +++ b/build/catkin_generated/generate_cached_setup.py @@ -12,7 +12,7 @@ try: from catkin.environment_cache import generate_environment_script except ImportError: # search for catkin package in all workspaces and prepend to path - for workspace in '/opt/ros/noetic'.split(';'): + for workspace in '/home/zmn/LocalSend/ROS/devel;/home/zmn/LocalSend/shiyan/devel;/opt/ros/noetic'.split(';'): python_path = os.path.join(workspace, 'lib/python3/dist-packages') if os.path.isdir(os.path.join(python_path, 'catkin')): sys.path.insert(0, python_path) diff --git a/build/catkin_generated/installspace/_setup_util.py b/build/catkin_generated/installspace/_setup_util.py index c8d8434..baaf5a0 100755 --- a/build/catkin_generated/installspace/_setup_util.py +++ b/build/catkin_generated/installspace/_setup_util.py @@ -268,7 +268,7 @@ if __name__ == '__main__': if not args.local: # environment at generation time - CMAKE_PREFIX_PATH = r'/opt/ros/noetic'.split(';') + CMAKE_PREFIX_PATH = r'/home/zmn/LocalSend/ROS/devel;/home/zmn/LocalSend/shiyan/devel;/opt/ros/noetic'.split(';') else: # don't consider any other prefix path than this one CMAKE_PREFIX_PATH = [] diff --git a/build/catkin_generated/order_packages.cmake b/build/catkin_generated/order_packages.cmake index a881db8..e3188a1 100644 --- a/build/catkin_generated/order_packages.cmake +++ b/build/catkin_generated/order_packages.cmake @@ -4,10 +4,6 @@ set(CATKIN_ORDERED_PACKAGES "") set(CATKIN_ORDERED_PACKAGE_PATHS "") set(CATKIN_ORDERED_PACKAGES_IS_META "") set(CATKIN_ORDERED_PACKAGES_BUILD_TYPE "") -list(APPEND CATKIN_ORDERED_PACKAGES "position_demo") -list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "position_demo") -list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "False") -list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "catkin") set(CATKIN_MESSAGE_GENERATORS ) diff --git a/build/catkin_generated/order_packages.py b/build/catkin_generated/order_packages.py index bf108c6..eedfcd8 100644 --- a/build/catkin_generated/order_packages.py +++ b/build/catkin_generated/order_packages.py @@ -2,4 +2,4 @@ source_root_dir = '/home/zmn/Gitea/ROS_Learn/src' whitelisted_packages = ''.split(';') if '' != '' else [] blacklisted_packages = ''.split(';') if '' != '' else [] -underlay_workspaces = '/opt/ros/noetic'.split(';') if '/opt/ros/noetic' != '' else [] +underlay_workspaces = '/home/zmn/LocalSend/ROS/devel;/home/zmn/LocalSend/shiyan/devel;/opt/ros/noetic'.split(';') if '/home/zmn/LocalSend/ROS/devel;/home/zmn/LocalSend/shiyan/devel;/opt/ros/noetic' != '' else [] diff --git a/build/catkin_generated/setup_cached.sh b/build/catkin_generated/setup_cached.sh index cd421e6..4e82752 100755 --- a/build/catkin_generated/setup_cached.sh +++ b/build/catkin_generated/setup_cached.sh @@ -9,5 +9,5 @@ # modified environment variables export CMAKE_PREFIX_PATH="/home/zmn/Gitea/ROS_Learn/devel:$CMAKE_PREFIX_PATH" export PWD='/home/zmn/Gitea/ROS_Learn/build' -export ROSLISP_PACKAGE_DIRECTORIES='/home/zmn/Gitea/ROS_Learn/devel/share/common-lisp' +export ROSLISP_PACKAGE_DIRECTORIES="/home/zmn/Gitea/ROS_Learn/devel/share/common-lisp:$ROSLISP_PACKAGE_DIRECTORIES" export ROS_PACKAGE_PATH="/home/zmn/Gitea/ROS_Learn/src:$ROS_PACKAGE_PATH" \ No newline at end of file diff --git a/build/catkin_generated/stamps/Project/_setup_util.py.stamp b/build/catkin_generated/stamps/Project/_setup_util.py.stamp index c8d8434..baaf5a0 100755 --- a/build/catkin_generated/stamps/Project/_setup_util.py.stamp +++ b/build/catkin_generated/stamps/Project/_setup_util.py.stamp @@ -268,7 +268,7 @@ if __name__ == '__main__': if not args.local: # environment at generation time - CMAKE_PREFIX_PATH = r'/opt/ros/noetic'.split(';') + CMAKE_PREFIX_PATH = r'/home/zmn/LocalSend/ROS/devel;/home/zmn/LocalSend/shiyan/devel;/opt/ros/noetic'.split(';') else: # don't consider any other prefix path than this one CMAKE_PREFIX_PATH = [] diff --git a/build/catkin_make.cache b/build/catkin_make.cache index 068cfc1..a4601a6 100644 --- a/build/catkin_make.cache +++ b/build/catkin_make.cache @@ -1,2 +1,2 @@ -position_demo + -DCATKIN_DEVEL_PREFIX=/home/zmn/Gitea/ROS_Learn/devel -DCMAKE_INSTALL_PREFIX=/home/zmn/Gitea/ROS_Learn/install -G Unix Makefiles \ No newline at end of file diff --git a/build/cmake_install.cmake b/build/cmake_install.cmake index 0981e66..fb2401d 100644 --- a/build/cmake_install.cmake +++ b/build/cmake_install.cmake @@ -146,7 +146,6 @@ endif() if(NOT CMAKE_INSTALL_LOCAL_ONLY) # Include the install script for each subdirectory. include("/home/zmn/Gitea/ROS_Learn/build/gtest/cmake_install.cmake") - include("/home/zmn/Gitea/ROS_Learn/build/position_demo/cmake_install.cmake") endif() diff --git a/build/position_demo/CMakeFiles/CMakeDirectoryInformation.cmake b/build/position_demo/CMakeFiles/CMakeDirectoryInformation.cmake deleted file mode 100644 index d1eef58..0000000 --- a/build/position_demo/CMakeFiles/CMakeDirectoryInformation.cmake +++ /dev/null @@ -1,16 +0,0 @@ -# CMAKE generated file: DO NOT EDIT! -# Generated by "Unix Makefiles" Generator, CMake Version 3.16 - 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cd /home/zmn/Gitea/ROS_Learn/build && $(MAKE) -f position_demo/CMakeFiles/nav_msgs_generate_messages_lisp.dir/build.make position_demo/CMakeFiles/nav_msgs_generate_messages_lisp.dir/build -.PHONY : nav_msgs_generate_messages_lisp/fast - -# Help Target -help: - @echo "The following are some of the valid targets for this Makefile:" - @echo "... all (the default if no target is provided)" - @echo "... clean" - @echo "... depend" - @echo "... rebuild_cache" - @echo "... edit_cache" - @echo "... actionlib_msgs_generate_messages_py" - @echo "... actionlib_msgs_generate_messages_nodejs" - @echo "... test" - @echo "... actionlib_msgs_generate_messages_lisp" - @echo "... install/local" - @echo "... geometry_msgs_generate_messages_eus" - @echo "... actionlib_msgs_generate_messages_eus" - @echo "... geometry_msgs_generate_messages_cpp" - @echo "... geometry_msgs_generate_messages_nodejs" - @echo "... install/strip" - @echo "... std_msgs_generate_messages_cpp" - @echo "... install" - @echo "... geometry_msgs_generate_messages_lisp" - @echo "... std_msgs_generate_messages_eus" - @echo "... list_install_components" - @echo "... actionlib_msgs_generate_messages_cpp" - @echo "... nav_msgs_generate_messages_py" - @echo "... std_msgs_generate_messages_lisp" - @echo "... nav_msgs_generate_messages_nodejs" - @echo "... std_msgs_generate_messages_nodejs" - @echo "... std_msgs_generate_messages_py" - @echo "... nav_msgs_generate_messages_eus" - @echo "... geometry_msgs_generate_messages_py" - @echo "... nav_msgs_generate_messages_cpp" - @echo "... nav_msgs_generate_messages_lisp" -.PHONY : help - - - -#============================================================================= -# Special targets to cleanup operation of make. - -# Special rule to run CMake to check the build system integrity. -# No rule that depends on this can have commands that come from listfiles -# because they might be regenerated. -cmake_check_build_system: - cd /home/zmn/Gitea/ROS_Learn/build && $(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0 -.PHONY : cmake_check_build_system - diff --git a/build/position_demo/catkin_generated/installspace/position_demo.pc b/build/position_demo/catkin_generated/installspace/position_demo.pc deleted file mode 100644 index 0b59e3a..0000000 --- a/build/position_demo/catkin_generated/installspace/position_demo.pc +++ /dev/null @@ -1,8 +0,0 @@ -prefix=/home/zmn/Gitea/ROS_Learn/install - -Name: position_demo -Description: Description of position_demo -Version: 0.0.0 -Cflags: -Libs: -L${prefix}/lib -Requires: diff --git a/build/position_demo/catkin_generated/installspace/position_demoConfig-version.cmake b/build/position_demo/catkin_generated/installspace/position_demoConfig-version.cmake deleted file mode 100644 index 7fd9f99..0000000 --- a/build/position_demo/catkin_generated/installspace/position_demoConfig-version.cmake +++ /dev/null @@ -1,14 +0,0 @@ -# generated from catkin/cmake/template/pkgConfig-version.cmake.in -set(PACKAGE_VERSION "0.0.0") - -set(PACKAGE_VERSION_EXACT False) -set(PACKAGE_VERSION_COMPATIBLE False) - -if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") - set(PACKAGE_VERSION_EXACT True) - set(PACKAGE_VERSION_COMPATIBLE True) -endif() - -if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") - set(PACKAGE_VERSION_COMPATIBLE True) -endif() diff --git a/build/position_demo/catkin_generated/installspace/position_demoConfig.cmake b/build/position_demo/catkin_generated/installspace/position_demoConfig.cmake deleted file mode 100644 index 8f4de4b..0000000 --- a/build/position_demo/catkin_generated/installspace/position_demoConfig.cmake +++ /dev/null @@ -1,225 +0,0 @@ -# generated from catkin/cmake/template/pkgConfig.cmake.in - -# append elements to a list and remove existing duplicates from the list -# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig -# self contained -macro(_list_append_deduplicate listname) - if(NOT "${ARGN}" STREQUAL "") - if(${listname}) - list(REMOVE_ITEM ${listname} ${ARGN}) - endif() - list(APPEND ${listname} ${ARGN}) - endif() -endmacro() - -# append elements to a list if they are not already in the list -# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig -# self contained -macro(_list_append_unique listname) - foreach(_item ${ARGN}) - list(FIND ${listname} ${_item} _index) - if(_index EQUAL -1) - list(APPEND ${listname} ${_item}) - endif() - endforeach() -endmacro() - -# pack a list of libraries with optional build configuration keywords -# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig -# self contained -macro(_pack_libraries_with_build_configuration VAR) - set(${VAR} "") - set(_argn ${ARGN}) - list(LENGTH _argn _count) - set(_index 0) - while(${_index} LESS ${_count}) - list(GET _argn ${_index} lib) - if("${lib}" MATCHES "^(debug|optimized|general)$") - math(EXPR _index "${_index} + 1") - if(${_index} EQUAL ${_count}) - message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library") - endif() - list(GET _argn ${_index} library) - list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}") - else() - list(APPEND ${VAR} "${lib}") - endif() - math(EXPR _index "${_index} + 1") - endwhile() -endmacro() - -# unpack a list of libraries with optional build configuration keyword prefixes -# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig -# self contained -macro(_unpack_libraries_with_build_configuration VAR) - set(${VAR} "") - foreach(lib ${ARGN}) - string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}") - list(APPEND ${VAR} "${lib}") - endforeach() -endmacro() - - -if(position_demo_CONFIG_INCLUDED) - return() -endif() -set(position_demo_CONFIG_INCLUDED TRUE) - -# set variables for source/devel/install prefixes -if("FALSE" STREQUAL "TRUE") - set(position_demo_SOURCE_PREFIX /home/zmn/Gitea/ROS_Learn/src/position_demo) - set(position_demo_DEVEL_PREFIX /home/zmn/Gitea/ROS_Learn/devel) - set(position_demo_INSTALL_PREFIX "") - set(position_demo_PREFIX ${position_demo_DEVEL_PREFIX}) -else() - set(position_demo_SOURCE_PREFIX "") - set(position_demo_DEVEL_PREFIX "") - set(position_demo_INSTALL_PREFIX /home/zmn/Gitea/ROS_Learn/install) - set(position_demo_PREFIX ${position_demo_INSTALL_PREFIX}) -endif() - -# warn when using a deprecated package -if(NOT "" STREQUAL "") - set(_msg "WARNING: package 'position_demo' is deprecated") - # append custom deprecation text if available - if(NOT "" STREQUAL "TRUE") - set(_msg "${_msg} ()") - endif() - message("${_msg}") -endif() - -# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project -set(position_demo_FOUND_CATKIN_PROJECT TRUE) - -if(NOT " " STREQUAL " ") - set(position_demo_INCLUDE_DIRS "") - set(_include_dirs "") - if(NOT " " STREQUAL " ") - set(_report "Check the issue tracker '' and consider creating a ticket if the problem has not been reported yet.") - elseif(NOT " " STREQUAL " ") - set(_report "Check the website '' for information and consider reporting the problem.") - else() - set(_report "Report the problem to the maintainer 'root ' and request to fix the problem.") - endif() - foreach(idir ${_include_dirs}) - if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir}) - set(include ${idir}) - elseif("${idir} " STREQUAL "include ") - get_filename_component(include "${position_demo_DIR}/../../../include" ABSOLUTE) - if(NOT IS_DIRECTORY ${include}) - message(FATAL_ERROR "Project 'position_demo' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. ${_report}") - endif() - else() - message(FATAL_ERROR "Project 'position_demo' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '\${prefix}/${idir}'. ${_report}") - endif() - _list_append_unique(position_demo_INCLUDE_DIRS ${include}) - endforeach() -endif() - -set(libraries "") -foreach(library ${libraries}) - # keep build configuration keywords, generator expressions, target names, and absolute libraries as-is - if("${library}" MATCHES "^(debug|optimized|general)$") - list(APPEND position_demo_LIBRARIES ${library}) - elseif(${library} MATCHES "^-l") - list(APPEND position_demo_LIBRARIES ${library}) - elseif(${library} MATCHES "^-") - # This is a linker flag/option (like -pthread) - # There's no standard variable for these, so create an interface library to hold it - if(NOT position_demo_NUM_DUMMY_TARGETS) - set(position_demo_NUM_DUMMY_TARGETS 0) - endif() - # Make sure the target name is unique - set(interface_target_name "catkin::position_demo::wrapped-linker-option${position_demo_NUM_DUMMY_TARGETS}") - while(TARGET "${interface_target_name}") - math(EXPR position_demo_NUM_DUMMY_TARGETS "${position_demo_NUM_DUMMY_TARGETS}+1") - set(interface_target_name "catkin::position_demo::wrapped-linker-option${position_demo_NUM_DUMMY_TARGETS}") - endwhile() - add_library("${interface_target_name}" INTERFACE IMPORTED) - if("${CMAKE_VERSION}" VERSION_LESS "3.13.0") - set_property( - TARGET - "${interface_target_name}" - APPEND PROPERTY - INTERFACE_LINK_LIBRARIES "${library}") - else() - target_link_options("${interface_target_name}" INTERFACE "${library}") - endif() - list(APPEND position_demo_LIBRARIES "${interface_target_name}") - elseif(${library} MATCHES "^\\$<") - list(APPEND position_demo_LIBRARIES ${library}) - elseif(TARGET ${library}) - list(APPEND position_demo_LIBRARIES ${library}) - elseif(IS_ABSOLUTE ${library}) - list(APPEND position_demo_LIBRARIES ${library}) - else() - set(lib_path "") - set(lib "${library}-NOTFOUND") - # since the path where the library is found is returned we have to iterate over the paths manually - foreach(path /home/zmn/Gitea/ROS_Learn/install/lib;/opt/ros/noetic/lib) - find_library(lib ${library} - PATHS ${path} - NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) - if(lib) - set(lib_path ${path}) - break() - endif() - endforeach() - if(lib) - _list_append_unique(position_demo_LIBRARY_DIRS ${lib_path}) - list(APPEND position_demo_LIBRARIES ${lib}) - else() - # as a fall back for non-catkin libraries try to search globally - find_library(lib ${library}) - if(NOT lib) - message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'. The library is neither a target nor built/installed properly. Did you compile project 'position_demo'? Did you find_package() it before the subdirectory containing its code is included?") - endif() - list(APPEND position_demo_LIBRARIES ${lib}) - endif() - endif() -endforeach() - -set(position_demo_EXPORTED_TARGETS "") -# create dummy targets for exported code generation targets to make life of users easier -foreach(t ${position_demo_EXPORTED_TARGETS}) - if(NOT TARGET ${t}) - add_custom_target(${t}) - endif() -endforeach() - -set(depends "") -foreach(depend ${depends}) - string(REPLACE " " ";" depend_list ${depend}) - # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls - list(GET depend_list 0 position_demo_dep) - list(LENGTH depend_list count) - if(${count} EQUAL 1) - # simple dependencies must only be find_package()-ed once - if(NOT ${position_demo_dep}_FOUND) - find_package(${position_demo_dep} REQUIRED NO_MODULE) - endif() - else() - # dependencies with components must be find_package()-ed again - list(REMOVE_AT depend_list 0) - find_package(${position_demo_dep} REQUIRED NO_MODULE ${depend_list}) - endif() - _list_append_unique(position_demo_INCLUDE_DIRS ${${position_demo_dep}_INCLUDE_DIRS}) - - # merge build configuration keywords with library names to correctly deduplicate - _pack_libraries_with_build_configuration(position_demo_LIBRARIES ${position_demo_LIBRARIES}) - _pack_libraries_with_build_configuration(_libraries ${${position_demo_dep}_LIBRARIES}) - _list_append_deduplicate(position_demo_LIBRARIES ${_libraries}) - # undo build configuration keyword merging after deduplication - _unpack_libraries_with_build_configuration(position_demo_LIBRARIES ${position_demo_LIBRARIES}) - - _list_append_unique(position_demo_LIBRARY_DIRS ${${position_demo_dep}_LIBRARY_DIRS}) - _list_append_deduplicate(position_demo_EXPORTED_TARGETS ${${position_demo_dep}_EXPORTED_TARGETS}) -endforeach() - -set(pkg_cfg_extras "") -foreach(extra ${pkg_cfg_extras}) - if(NOT IS_ABSOLUTE ${extra}) - set(extra ${position_demo_DIR}/${extra}) - endif() - include(${extra}) -endforeach() diff --git a/build/position_demo/catkin_generated/ordered_paths.cmake b/build/position_demo/catkin_generated/ordered_paths.cmake deleted file mode 100644 index 454cf03..0000000 --- a/build/position_demo/catkin_generated/ordered_paths.cmake +++ /dev/null @@ -1 +0,0 @@ -set(ORDERED_PATHS "/opt/ros/noetic/lib") \ No newline at end of file diff --git a/build/position_demo/catkin_generated/package.cmake b/build/position_demo/catkin_generated/package.cmake deleted file mode 100644 index 3f16029..0000000 --- a/build/position_demo/catkin_generated/package.cmake +++ /dev/null @@ -1,16 +0,0 @@ -set(_CATKIN_CURRENT_PACKAGE "position_demo") -set(position_demo_VERSION "0.0.0") -set(position_demo_MAINTAINER "root ") -set(position_demo_PACKAGE_FORMAT "2") -set(position_demo_BUILD_DEPENDS "geometry_msgs" "nav_msgs" "rospy" "std_msgs") -set(position_demo_BUILD_EXPORT_DEPENDS "geometry_msgs" "nav_msgs" "rospy" "std_msgs") -set(position_demo_BUILDTOOL_DEPENDS "catkin") -set(position_demo_BUILDTOOL_EXPORT_DEPENDS ) -set(position_demo_EXEC_DEPENDS "geometry_msgs" "nav_msgs" "rospy" "std_msgs") -set(position_demo_RUN_DEPENDS "geometry_msgs" "nav_msgs" "rospy" "std_msgs") -set(position_demo_TEST_DEPENDS ) -set(position_demo_DOC_DEPENDS ) -set(position_demo_URL_WEBSITE "") -set(position_demo_URL_BUGTRACKER "") -set(position_demo_URL_REPOSITORY "") -set(position_demo_DEPRECATED "") \ No newline at end of file diff --git a/build/position_demo/catkin_generated/pkg.develspace.context.pc.py b/build/position_demo/catkin_generated/pkg.develspace.context.pc.py deleted file mode 100644 index 8aba54d..0000000 --- a/build/position_demo/catkin_generated/pkg.develspace.context.pc.py +++ /dev/null @@ -1,8 +0,0 @@ -# generated from catkin/cmake/template/pkg.context.pc.in -CATKIN_PACKAGE_PREFIX = "" -PROJECT_PKG_CONFIG_INCLUDE_DIRS = "".split(';') if "" != "" else [] -PROJECT_CATKIN_DEPENDS = "".replace(';', ' ') -PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else [] -PROJECT_NAME = "position_demo" -PROJECT_SPACE_DIR = "/home/zmn/Gitea/ROS_Learn/devel" -PROJECT_VERSION = "0.0.0" diff --git a/build/position_demo/catkin_generated/pkg.installspace.context.pc.py b/build/position_demo/catkin_generated/pkg.installspace.context.pc.py deleted file mode 100644 index 3f605d2..0000000 --- a/build/position_demo/catkin_generated/pkg.installspace.context.pc.py +++ /dev/null @@ -1,8 +0,0 @@ -# generated from catkin/cmake/template/pkg.context.pc.in -CATKIN_PACKAGE_PREFIX = "" -PROJECT_PKG_CONFIG_INCLUDE_DIRS = "".split(';') if "" != "" else [] -PROJECT_CATKIN_DEPENDS = "".replace(';', ' ') -PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else [] -PROJECT_NAME = "position_demo" -PROJECT_SPACE_DIR = "/home/zmn/Gitea/ROS_Learn/install" -PROJECT_VERSION = "0.0.0" diff --git a/build/position_demo/catkin_generated/stamps/position_demo/package.xml.stamp b/build/position_demo/catkin_generated/stamps/position_demo/package.xml.stamp deleted file mode 100644 index e7115ef..0000000 --- a/build/position_demo/catkin_generated/stamps/position_demo/package.xml.stamp +++ /dev/null @@ -1,71 +0,0 @@ - - - position_demo - 0.0.0 - The position_demo package - - - - - root - - - - - - TODO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - geometry_msgs - nav_msgs - rospy - std_msgs - geometry_msgs - nav_msgs - rospy - std_msgs - geometry_msgs - nav_msgs - rospy - std_msgs - - - - - - - - diff --git a/build/position_demo/catkin_generated/stamps/position_demo/pkg.pc.em.stamp b/build/position_demo/catkin_generated/stamps/position_demo/pkg.pc.em.stamp deleted file mode 100644 index 549fb75..0000000 --- a/build/position_demo/catkin_generated/stamps/position_demo/pkg.pc.em.stamp +++ /dev/null @@ -1,8 +0,0 @@ -prefix=@PROJECT_SPACE_DIR - -Name: @(CATKIN_PACKAGE_PREFIX + PROJECT_NAME) -Description: Description of @PROJECT_NAME -Version: @PROJECT_VERSION -Cflags: @(' '.join(['-I%s' % include for include in PROJECT_PKG_CONFIG_INCLUDE_DIRS])) -Libs: -L${prefix}/lib @(' '.join(PKG_CONFIG_LIBRARIES_WITH_PREFIX)) -Requires: @(PROJECT_CATKIN_DEPENDS) diff --git a/build/position_demo/cmake_install.cmake b/build/position_demo/cmake_install.cmake deleted file mode 100644 index 26b3801..0000000 --- a/build/position_demo/cmake_install.cmake +++ /dev/null @@ -1,54 +0,0 @@ -# Install script for directory: /home/zmn/Gitea/ROS_Learn/src/position_demo - -# Set the install prefix -if(NOT DEFINED CMAKE_INSTALL_PREFIX) - set(CMAKE_INSTALL_PREFIX "/home/zmn/Gitea/ROS_Learn/install") -endif() -string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}") - -# Set the install configuration name. -if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) - if(BUILD_TYPE) - string(REGEX REPLACE "^[^A-Za-z0-9_]+" "" - CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}") - else() - set(CMAKE_INSTALL_CONFIG_NAME "") - endif() - message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"") -endif() - -# Set the component getting installed. -if(NOT CMAKE_INSTALL_COMPONENT) - if(COMPONENT) - message(STATUS "Install component: \"${COMPONENT}\"") - set(CMAKE_INSTALL_COMPONENT "${COMPONENT}") - else() - set(CMAKE_INSTALL_COMPONENT) - endif() -endif() - -# Install shared libraries without execute permission? -if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) - set(CMAKE_INSTALL_SO_NO_EXE "1") -endif() - -# Is this installation the result of a crosscompile? -if(NOT DEFINED CMAKE_CROSSCOMPILING) - set(CMAKE_CROSSCOMPILING "FALSE") -endif() - -if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) - file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/pkgconfig" TYPE FILE FILES "/home/zmn/Gitea/ROS_Learn/build/position_demo/catkin_generated/installspace/position_demo.pc") -endif() - -if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) - file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/position_demo/cmake" TYPE FILE FILES - "/home/zmn/Gitea/ROS_Learn/build/position_demo/catkin_generated/installspace/position_demoConfig.cmake" - "/home/zmn/Gitea/ROS_Learn/build/position_demo/catkin_generated/installspace/position_demoConfig-version.cmake" - ) -endif() - -if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) - file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/position_demo" TYPE FILE FILES "/home/zmn/Gitea/ROS_Learn/src/position_demo/package.xml") -endif() - diff --git a/devel/_setup_util.py b/devel/_setup_util.py index c8d8434..baaf5a0 100755 --- a/devel/_setup_util.py +++ b/devel/_setup_util.py @@ -268,7 +268,7 @@ if __name__ == '__main__': if not args.local: # environment at generation time - CMAKE_PREFIX_PATH = r'/opt/ros/noetic'.split(';') + CMAKE_PREFIX_PATH = r'/home/zmn/LocalSend/ROS/devel;/home/zmn/LocalSend/shiyan/devel;/opt/ros/noetic'.split(';') else: # don't consider any other prefix path than this one CMAKE_PREFIX_PATH = [] diff --git a/devel/lib/pkgconfig/position_demo.pc b/devel/lib/pkgconfig/position_demo.pc deleted file mode 100644 index e9f380c..0000000 --- a/devel/lib/pkgconfig/position_demo.pc +++ /dev/null @@ -1,8 +0,0 @@ -prefix=/home/zmn/Gitea/ROS_Learn/devel - -Name: position_demo -Description: Description of position_demo -Version: 0.0.0 -Cflags: -Libs: -L${prefix}/lib -Requires: diff --git a/devel/share/position_demo/cmake/position_demoConfig-version.cmake b/devel/share/position_demo/cmake/position_demoConfig-version.cmake deleted file mode 100644 index 7fd9f99..0000000 --- a/devel/share/position_demo/cmake/position_demoConfig-version.cmake +++ /dev/null @@ -1,14 +0,0 @@ -# generated from catkin/cmake/template/pkgConfig-version.cmake.in -set(PACKAGE_VERSION "0.0.0") - -set(PACKAGE_VERSION_EXACT False) -set(PACKAGE_VERSION_COMPATIBLE False) - -if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") - set(PACKAGE_VERSION_EXACT True) - set(PACKAGE_VERSION_COMPATIBLE True) -endif() - -if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") - set(PACKAGE_VERSION_COMPATIBLE True) -endif() diff --git a/devel/share/position_demo/cmake/position_demoConfig.cmake b/devel/share/position_demo/cmake/position_demoConfig.cmake deleted file mode 100644 index be1025e..0000000 --- a/devel/share/position_demo/cmake/position_demoConfig.cmake +++ /dev/null @@ -1,225 +0,0 @@ -# generated from catkin/cmake/template/pkgConfig.cmake.in - -# append elements to a list and remove existing duplicates from the list -# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig -# self contained -macro(_list_append_deduplicate listname) - if(NOT "${ARGN}" STREQUAL "") - if(${listname}) - list(REMOVE_ITEM ${listname} ${ARGN}) - endif() - list(APPEND ${listname} ${ARGN}) - endif() -endmacro() - -# append elements to a list if they are not already in the list -# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig -# self contained -macro(_list_append_unique listname) - foreach(_item ${ARGN}) - list(FIND ${listname} ${_item} _index) - if(_index EQUAL -1) - list(APPEND ${listname} ${_item}) - endif() - endforeach() -endmacro() - -# pack a list of libraries with optional build configuration keywords -# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig -# self contained -macro(_pack_libraries_with_build_configuration VAR) - set(${VAR} "") - set(_argn ${ARGN}) - list(LENGTH _argn _count) - set(_index 0) - while(${_index} LESS ${_count}) - list(GET _argn ${_index} lib) - if("${lib}" MATCHES "^(debug|optimized|general)$") - math(EXPR _index "${_index} + 1") - if(${_index} EQUAL ${_count}) - message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library") - endif() - list(GET _argn ${_index} library) - list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}") - else() - list(APPEND ${VAR} "${lib}") - endif() - math(EXPR _index "${_index} + 1") - endwhile() -endmacro() - -# unpack a list of libraries with optional build configuration keyword prefixes -# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig -# self contained -macro(_unpack_libraries_with_build_configuration VAR) - set(${VAR} "") - foreach(lib ${ARGN}) - string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}") - list(APPEND ${VAR} "${lib}") - endforeach() -endmacro() - - -if(position_demo_CONFIG_INCLUDED) - return() -endif() -set(position_demo_CONFIG_INCLUDED TRUE) - -# set variables for source/devel/install prefixes -if("TRUE" STREQUAL "TRUE") - set(position_demo_SOURCE_PREFIX /home/zmn/Gitea/ROS_Learn/src/position_demo) - set(position_demo_DEVEL_PREFIX /home/zmn/Gitea/ROS_Learn/devel) - set(position_demo_INSTALL_PREFIX "") - set(position_demo_PREFIX ${position_demo_DEVEL_PREFIX}) -else() - set(position_demo_SOURCE_PREFIX "") - set(position_demo_DEVEL_PREFIX "") - set(position_demo_INSTALL_PREFIX /home/zmn/Gitea/ROS_Learn/install) - set(position_demo_PREFIX ${position_demo_INSTALL_PREFIX}) -endif() - -# warn when using a deprecated package -if(NOT "" STREQUAL "") - set(_msg "WARNING: package 'position_demo' is deprecated") - # append custom deprecation text if available - if(NOT "" STREQUAL "TRUE") - set(_msg "${_msg} ()") - endif() - message("${_msg}") -endif() - -# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project -set(position_demo_FOUND_CATKIN_PROJECT TRUE) - -if(NOT " " STREQUAL " ") - set(position_demo_INCLUDE_DIRS "") - set(_include_dirs "") - if(NOT " " STREQUAL " ") - set(_report "Check the issue tracker '' and consider creating a ticket if the problem has not been reported yet.") - elseif(NOT " " STREQUAL " ") - set(_report "Check the website '' for information and consider reporting the problem.") - else() - set(_report "Report the problem to the maintainer 'root ' and request to fix the problem.") - endif() - foreach(idir ${_include_dirs}) - if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir}) - set(include ${idir}) - elseif("${idir} " STREQUAL "include ") - get_filename_component(include "${position_demo_DIR}/../../../include" ABSOLUTE) - if(NOT IS_DIRECTORY ${include}) - message(FATAL_ERROR "Project 'position_demo' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. ${_report}") - endif() - else() - message(FATAL_ERROR "Project 'position_demo' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '/home/zmn/Gitea/ROS_Learn/src/position_demo/${idir}'. ${_report}") - endif() - _list_append_unique(position_demo_INCLUDE_DIRS ${include}) - endforeach() -endif() - -set(libraries "") -foreach(library ${libraries}) - # keep build configuration keywords, generator expressions, target names, and absolute libraries as-is - if("${library}" MATCHES "^(debug|optimized|general)$") - list(APPEND position_demo_LIBRARIES ${library}) - elseif(${library} MATCHES "^-l") - list(APPEND position_demo_LIBRARIES ${library}) - elseif(${library} MATCHES "^-") - # This is a linker flag/option (like -pthread) - # There's no standard variable for these, so create an interface library to hold it - if(NOT position_demo_NUM_DUMMY_TARGETS) - set(position_demo_NUM_DUMMY_TARGETS 0) - endif() - # Make sure the target name is unique - set(interface_target_name "catkin::position_demo::wrapped-linker-option${position_demo_NUM_DUMMY_TARGETS}") - while(TARGET "${interface_target_name}") - math(EXPR position_demo_NUM_DUMMY_TARGETS "${position_demo_NUM_DUMMY_TARGETS}+1") - set(interface_target_name "catkin::position_demo::wrapped-linker-option${position_demo_NUM_DUMMY_TARGETS}") - endwhile() - add_library("${interface_target_name}" INTERFACE IMPORTED) - if("${CMAKE_VERSION}" VERSION_LESS "3.13.0") - set_property( - TARGET - "${interface_target_name}" - APPEND PROPERTY - INTERFACE_LINK_LIBRARIES "${library}") - else() - target_link_options("${interface_target_name}" INTERFACE "${library}") - endif() - list(APPEND position_demo_LIBRARIES "${interface_target_name}") - elseif(${library} MATCHES "^\\$<") - list(APPEND position_demo_LIBRARIES ${library}) - elseif(TARGET ${library}) - list(APPEND position_demo_LIBRARIES ${library}) - elseif(IS_ABSOLUTE ${library}) - list(APPEND position_demo_LIBRARIES ${library}) - else() - set(lib_path "") - set(lib "${library}-NOTFOUND") - # since the path where the library is found is returned we have to iterate over the paths manually - foreach(path /home/zmn/Gitea/ROS_Learn/devel/lib;/opt/ros/noetic/lib) - find_library(lib ${library} - PATHS ${path} - NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) - if(lib) - set(lib_path ${path}) - break() - endif() - endforeach() - if(lib) - _list_append_unique(position_demo_LIBRARY_DIRS ${lib_path}) - list(APPEND position_demo_LIBRARIES ${lib}) - else() - # as a fall back for non-catkin libraries try to search globally - find_library(lib ${library}) - if(NOT lib) - message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'. The library is neither a target nor built/installed properly. Did you compile project 'position_demo'? Did you find_package() it before the subdirectory containing its code is included?") - endif() - list(APPEND position_demo_LIBRARIES ${lib}) - endif() - endif() -endforeach() - -set(position_demo_EXPORTED_TARGETS "") -# create dummy targets for exported code generation targets to make life of users easier -foreach(t ${position_demo_EXPORTED_TARGETS}) - if(NOT TARGET ${t}) - add_custom_target(${t}) - endif() -endforeach() - -set(depends "") -foreach(depend ${depends}) - string(REPLACE " " ";" depend_list ${depend}) - # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls - list(GET depend_list 0 position_demo_dep) - list(LENGTH depend_list count) - if(${count} EQUAL 1) - # simple dependencies must only be find_package()-ed once - if(NOT ${position_demo_dep}_FOUND) - find_package(${position_demo_dep} REQUIRED NO_MODULE) - endif() - else() - # dependencies with components must be find_package()-ed again - list(REMOVE_AT depend_list 0) - find_package(${position_demo_dep} REQUIRED NO_MODULE ${depend_list}) - endif() - _list_append_unique(position_demo_INCLUDE_DIRS ${${position_demo_dep}_INCLUDE_DIRS}) - - # merge build configuration keywords with library names to correctly deduplicate - _pack_libraries_with_build_configuration(position_demo_LIBRARIES ${position_demo_LIBRARIES}) - _pack_libraries_with_build_configuration(_libraries ${${position_demo_dep}_LIBRARIES}) - _list_append_deduplicate(position_demo_LIBRARIES ${_libraries}) - # undo build configuration keyword merging after deduplication - _unpack_libraries_with_build_configuration(position_demo_LIBRARIES ${position_demo_LIBRARIES}) - - _list_append_unique(position_demo_LIBRARY_DIRS ${${position_demo_dep}_LIBRARY_DIRS}) - _list_append_deduplicate(position_demo_EXPORTED_TARGETS ${${position_demo_dep}_EXPORTED_TARGETS}) -endforeach() - -set(pkg_cfg_extras "") -foreach(extra ${pkg_cfg_extras}) - if(NOT IS_ABSOLUTE ${extra}) - set(extra ${position_demo_DIR}/${extra}) - endif() - include(${extra}) -endforeach() diff --git a/src/position_demo/CMakeLists.txt b/src/Topic_Newsletter/CMakeLists.txt similarity index 94% rename from src/position_demo/CMakeLists.txt rename to src/Topic_Newsletter/CMakeLists.txt index 500c515..0a1927a 100644 --- a/src/position_demo/CMakeLists.txt +++ b/src/Topic_Newsletter/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.0.2) -project(position_demo) +project(Topic_Newsletter) ## Compile as C++11, supported in ROS Kinetic and newer # add_compile_options(-std=c++11) @@ -9,9 +9,10 @@ project(position_demo) ## is used, also find other catkin packages find_package(catkin REQUIRED COMPONENTS geometry_msgs - nav_msgs + message_generation rospy std_msgs + visualization_msgs ) ## System dependencies are found with CMake's conventions @@ -71,7 +72,7 @@ find_package(catkin REQUIRED COMPONENTS ## Generate added messages and services with any dependencies listed here # generate_messages( # DEPENDENCIES -# geometry_msgs# nav_msgs# std_msgs +# geometry_msgs# std_msgs# visualization_msgs # ) ################################################ @@ -105,8 +106,8 @@ find_package(catkin REQUIRED COMPONENTS ## DEPENDS: system dependencies of this project that dependent projects also need catkin_package( # INCLUDE_DIRS include -# LIBRARIES position_demo -# CATKIN_DEPENDS geometry_msgs nav_msgs rospy std_msgs +# LIBRARIES Topic_Newsletter +# CATKIN_DEPENDS geometry_msgs message_generation rospy std_msgs visualization_msgs # DEPENDS system_lib ) @@ -123,7 +124,7 @@ include_directories( ## Declare a C++ library # add_library(${PROJECT_NAME} -# src/${PROJECT_NAME}/position_demo.cpp +# src/${PROJECT_NAME}/Topic_Newsletter.cpp # ) ## Add cmake target dependencies of the library @@ -134,7 +135,7 @@ include_directories( ## Declare a C++ executable ## With catkin_make all packages are built within a single CMake context ## The recommended prefix ensures that target names across packages don't collide -# add_executable(${PROJECT_NAME}_node src/position_demo_node.cpp) +# add_executable(${PROJECT_NAME}_node src/Topic_Newsletter_node.cpp) ## Rename C++ executable without prefix ## The above recommended prefix causes long target names, the following renames the @@ -198,7 +199,7 @@ include_directories( ############# ## Add gtest based cpp test target and link libraries -# catkin_add_gtest(${PROJECT_NAME}-test test/test_position_demo.cpp) +# catkin_add_gtest(${PROJECT_NAME}-test test/test_Topic_Newsletter.cpp) # if(TARGET ${PROJECT_NAME}-test) # target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) # endif() diff --git a/src/position_demo/package.xml b/src/Topic_Newsletter/package.xml similarity index 87% rename from src/position_demo/package.xml rename to src/Topic_Newsletter/package.xml index e7115ef..fc1cfd5 100644 --- a/src/position_demo/package.xml +++ b/src/Topic_Newsletter/package.xml @@ -1,8 +1,8 @@ - position_demo + Topic_Newsletter 0.0.0 - The position_demo package + The Topic_Newsletter package @@ -19,7 +19,7 @@ - + @@ -50,17 +50,18 @@ catkin geometry_msgs - nav_msgs + message_generation rospy std_msgs + visualization_msgs geometry_msgs - nav_msgs rospy std_msgs + visualization_msgs geometry_msgs - nav_msgs rospy std_msgs + visualization_msgs diff --git a/src/Topic_Newsletter/scripts/Publisher_TN.py b/src/Topic_Newsletter/scripts/Publisher_TN.py new file mode 100644 index 0000000..9c87cc3 --- /dev/null +++ b/src/Topic_Newsletter/scripts/Publisher_TN.py @@ -0,0 +1,27 @@ +#!/usr/bin/env python3 + +import rospy +import math +from geometry_msgs.msg import PointStamped + +def main(): + rospy.init_node('Publisher_S') + pub = rospy.Publisher('position', PointStamped, queue_size=10) # 向 position 话题发布 PointStamped 类型的消息 + rate = rospy.Rate(10) # 每 0.1s 一条信息 + + k = 0 + + while not rospy.is_shutdown(): + msg = PointStamped() + msg.header.stamp = rospy.Time.now() + msg.header.frame_id = "map" # 基于 map 的坐标系 + msg.point.x = math.sin(0.05 * math.pi * k) # x 值 + msg.point.y = math.cos(0.05 * math.pi * k) # y 值 + msg.point.z = 0.0 + pub.publish(msg) # 发布话题 + rospy.loginfo("Published: x=%.3f, y=%.3f" % (msg.point.x, msg.point.y)) # 打印坐标信息 + k += 1 + rate.sleep() + +if __name__ == '__main__': + main() \ No newline at end of file diff --git a/src/Topic_Newsletter/scripts/Subscriber_TN.py b/src/Topic_Newsletter/scripts/Subscriber_TN.py new file mode 100644 index 0000000..c5adc56 --- /dev/null +++ b/src/Topic_Newsletter/scripts/Subscriber_TN.py @@ -0,0 +1,91 @@ +#!/usr/bin/env python3 + +import rospy +import random +from geometry_msgs.msg import PointStamped, Point +from visualization_msgs.msg import Marker, MarkerArray +from std_msgs.msg import ColorRGBA + +MAX_POINTS = 100 + +original_trajectory = [] +noisy_trajectory = [] +noisy_pub = None +marker_pub = None + +def position_callback(msg): + global original_trajectory, noisy_trajectory + global noisy_pub, marker_pub + + noise_x = random.uniform(-0.1, 0.1) + noise_y = random.uniform(-0.1, 0.1) + noisy_msg = PointStamped() + noisy_msg.header = msg.header + noisy_msg.point.x = msg.point.x + noise_x # 对 x 添加噪声 + noisy_msg.point.y = msg.point.y + noise_y # 对 y 添加噪声 + noisy_msg.point.z = 0.0 + + original_trajectory.append(msg.point) + if len(original_trajectory) > MAX_POINTS: + original_trajectory.pop(0) + noisy_trajectory.append(noisy_msg.point) + if len(noisy_trajectory) > MAX_POINTS: + noisy_trajectory.pop(0) + + marker_array = MarkerArray() + original_line = Marker() + original_line.header = msg.header + original_line.ns = "trajectory" + original_line.id = 0 + original_line.type = Marker.LINE_STRIP + original_line.action = Marker.ADD + original_line.scale.x = 0.02 + original_line.color.g = 1.0 + original_line.color.a = 1.0 + original_line.points = list(original_trajectory) + marker_array.markers.append(original_line) + + noisy_line = Marker() + noisy_line.header = msg.header + noisy_line.ns = "trajectory" + noisy_line.id = 1 + noisy_line.type = Marker.LINE_STRIP + noisy_line.action = Marker.ADD + noisy_line.scale.x = 0.02 + noisy_line.color.r = 1.0 + noisy_line.color.a = 1.0 + noisy_line.points = list(noisy_trajectory) + marker_array.markers.append(noisy_line) + + marker = Marker() + marker.header.frame_id = "map" # 设置坐标系 + marker.header.stamp = rospy.Time.now() + marker.type = Marker.POINTS + marker.action = Marker.ADD + marker.scale.x = 0.025 # 点的直径 + marker.scale.y = 0.025 # 点的直径 + marker.color = ColorRGBA(1.0, 0.0, 0.0, 1.0) # 红色 + + points = [] + for point in noisy_trajectory: + p = Point() + p.x = point.x + p.y = point.y + p.z = 0.0 + points.append(p) + marker.points = points + marker_array.markers.append(marker) + + marker_pub.publish(marker_array) + rospy.loginfo("Published noisy point: x=%.3f, y=%.3f | Noisy: x=%.3f, y=%.3f",msg.point.x, msg.point.y, noisy_msg.point.x, noisy_msg.point.y) + +if __name__ == '__main__': + rospy.init_node('Subscriber_Client_S') + + rospy.Subscriber('position', PointStamped, position_callback) + + noisy_pub = rospy.Publisher('noisy_position', PointStamped, queue_size=10) + marker_pub = rospy.Publisher('visualization_marker_array', MarkerArray, queue_size=10) + + rospy.loginfo("Node initialized, waiting for position data...") + rospy.spin() \ No newline at end of file diff --git a/src/position_demo/scripts/fft_service.py b/src/position_demo/scripts/fft_service.py deleted file mode 100644 index 47def35..0000000 --- a/src/position_demo/scripts/fft_service.py +++ /dev/null @@ -1,23 +0,0 @@ -#!/usr/bin/env python -import rospy -import numpy as np -from position_demo.srv import FftService, FftServiceResponse - -# 服务回调函数,进行FFT变换 -def handle_fft_request(req): - # 获取请求中的数据 - data = req.data - # 对数据进行FFT变换 - fft_result = np.fft.fft(data) - # 返回实部和虚部的实数部分作为结果 - return FftServiceResponse(fft_result.real) - -def fft_service(): - rospy.init_node('fft_service') - # 定义服务 - service = rospy.Service('fft_service', FftService, handle_fft_request) - rospy.loginfo("Ready to perform FFT on 128 data points.") - rospy.spin() - -if __name__ == "__main__": - fft_service() diff --git a/src/position_demo/scripts/publisher_node.py b/src/position_demo/scripts/publisher_node.py deleted file mode 100755 index d48f678..0000000 --- a/src/position_demo/scripts/publisher_node.py +++ /dev/null @@ -1,31 +0,0 @@ -#!/usr/bin/env python3 -import rospy -from geometry_msgs.msg import Point -import math - -def publisher(): - # 创建一个发布者,将坐标点发布到 /position_topic 主题 - point_pub = rospy.Publisher('position_topic', Point, queue_size=10) - - rospy.init_node('position_publisher', anonymous=True) - rate = rospy.Rate(10) # 10Hz (100ms) - - k = 0 - while not rospy.is_shutdown(): - # 根据方程计算 x 和 y 坐标 - x = math.sin(0.05 * k * math.pi) - y = math.cos(0.05 * k * math.pi) - - # 创建一个 Point 消息并发布 - point = Point(x=x, y=y, z=0) - point_pub.publish(point) - rospy.loginfo(f"Published Point: x={x:.4f}, y={y:.4f}") - - k += 1 - rate.sleep() - -if __name__ == '__main__': - try: - publisher() - except rospy.ROSInterruptException: - pass diff --git a/src/position_demo/scripts/publisher_node_three.py b/src/position_demo/scripts/publisher_node_three.py deleted file mode 100755 index ca028c8..0000000 --- a/src/position_demo/scripts/publisher_node_three.py +++ /dev/null @@ -1,31 +0,0 @@ -#!/usr/bin/env python3 -import rospy -from geometry_msgs.msg import Point -import math - -def publisher(): - # 创建一个发布者,将坐标点发布到 /position_topic 主题 - point_pub = rospy.Publisher('position_topic', Point, queue_size=10) - - rospy.init_node('position_publisher', anonymous=True) - rate = rospy.Rate(10) # 10Hz (100ms) - - k = 0 - while not rospy.is_shutdown(): - # 根据方程计算 x 和 y 坐标 - x = math.sin(0.015625 * k * math.pi) - y = math.cos(0.015625 * k * math.pi) - - # 创建一个 Point 消息并发布 - point = Point(x=x, y=y, z=0) - point_pub.publish(point) - rospy.loginfo(f"Published Point: x={x:.4f}, y={y:.4f}") - - k += 1 - rate.sleep() - -if __name__ == '__main__': - try: - publisher() - except rospy.ROSInterruptException: - pass diff --git a/src/position_demo/scripts/subscriber_node.py b/src/position_demo/scripts/subscriber_node.py deleted file mode 100755 index c374b2a..0000000 --- a/src/position_demo/scripts/subscriber_node.py +++ /dev/null @@ -1,57 +0,0 @@ -#!/usr/bin/env python3 -import rospy -from geometry_msgs.msg import Point -from visualization_msgs.msg import Marker -from std_msgs.msg import ColorRGBA - -# 保存接收到的所有点,更新轨迹 -points = [] - -def callback(data): - global points - - # 打印接收到的坐标点 - rospy.loginfo(f"Received Point: x={data.x:.4f}, y={data.y:.4f}") - - # 创建 Marker 消息 - marker = Marker() - marker.header.frame_id = "world" - marker.header.stamp = rospy.Time.now() - - # 设置 Marker 类型为点(而不是线条) - marker.type = Marker.POINTS - marker.action = Marker.ADD - - # 设置点的大小,直径为 0.001 - marker.scale.x = 0.025 # 点的直径(x 和 y 均为直径) - marker.scale.y = 0.025 # 点的直径 - - # 设置点的颜色 - marker.color = ColorRGBA(1.0, 0.0, 0.0, 1.0) # 红色,透明度 1.0 - - # 添加接收到的坐标点 - point = Point() - point.x = data.x - point.y = data.y - point.z = data.z - points.append(point) - - # 将所有的点添加到 Marker 的点集合中 - marker.points = points - - # 发布 Marker - marker_pub.publish(marker) - -def listener(): - rospy.init_node('position_subscriber', anonymous=True) - - # 创建 Marker 发布者 - global marker_pub - marker_pub = rospy.Publisher('visualization_marker', Marker, queue_size=10) - - rospy.Subscriber('position_topic', Point, callback) - - rospy.spin() - -if __name__ == '__main__': - listener() diff --git a/src/position_demo/scripts/subscriber_node_three.py b/src/position_demo/scripts/subscriber_node_three.py deleted file mode 100755 index 4bbe8f9..0000000 --- a/src/position_demo/scripts/subscriber_node_three.py +++ /dev/null @@ -1,70 +0,0 @@ -#!/usr/bin/env python3 -import rospy -from geometry_msgs.msg import Point -from visualization_msgs.msg import Marker -from std_msgs.msg import ColorRGBA - -# 保存接收到的所有点,更新轨迹 -points = [] -x1 = 0 -y1 = 0 - -def callback(data, n=[0]): - global points - global x1 - global y1 - - if n[0] == 0: - x1 = data.x + 0.1 - y1 = data.y + 0.1 - n[0] = 1 - - else: - x1 = data.x - 0.1 - y1 = data.y - 0.1 - n[0] = 0 - - rospy.loginfo(f"Modified Point: x={x1:.4f}, y={y1:.4f}") - - # 创建 Marker 消息 - marker = Marker() - marker.header.frame_id = "world" - marker.header.stamp = rospy.Time.now() - - # 设置 Marker 类型为点(而不是线条) - marker.type = Marker.POINTS - marker.action = Marker.ADD - - # 设置点的大小,直径为 0.001 - marker.scale.x = 0.025 # 点的直径(x 和 y 均为直径) - marker.scale.y = 0.025 # 点的直径 - - # 设置点的颜色 - marker.color = ColorRGBA(1.0, 0.0, 0.0, 1.0) # 红色,透明度 1.0 - - # 添加接收到的坐标点 - point = Point() - point.x = x1 - point.y = y1 - point.z = 0 - points.append(point) - - # 将所有的点添加到 Marker 的点集合中 - marker.points = points - - # 发布 Marker - marker_pub.publish(marker) - -def listener(): - rospy.init_node('position_subscriber', anonymous=True) - - # 创建 Marker 发布者 - global marker_pub - marker_pub = rospy.Publisher('visualization_marker', Marker, queue_size=10) - - rospy.Subscriber('position_topic', Point, callback) - - rospy.spin() - -if __name__ == '__main__': - listener() diff --git a/src/position_demo/srv/FftService.srv b/src/position_demo/srv/FftService.srv deleted file mode 100644 index 7d8a908..0000000 --- a/src/position_demo/srv/FftService.srv +++ /dev/null @@ -1,3 +0,0 @@ -float64[128] data ---- -float64[128] fft_result \ No newline at end of file