小乌龟控制完成

2025-10-11 21:52:39 +08:00
1 parent b09567204c
commit cdcf44c156
@@ -0,0 +1,73 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>Aee1220310013</name>
+  <version>0.0.0</version>
+  <description>The Aee1220310013 package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="root@todo.todo">root</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/Aee1220310013</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>message_generation</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>visualization_msgs</build_depend>
+  <build_export_depend>geometry_msgs</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <build_export_depend>visualization_msgs</build_export_depend>
+  <exec_depend>geometry_msgs</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>visualization_msgs</exec_depend>
+  <exec_depend>message_runtime</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
@@ -0,0 +1,167 @@
+# generated from genmsg/cmake/pkg-genmsg.cmake.em
+
+@{
+import os
+import sys
+
+import genmsg
+import genmsg.base
+genmsg.base.log_verbose('GENMSG_VERBOSE' in os.environ)
+import genmsg.deps
+import genmsg.gentools
+
+# split incoming variables
+messages = messages_str.split(';') if messages_str != '' else []
+services = services_str.split(';') if services_str != '' else []
+dependencies = dependencies_str.split(';') if dependencies_str != '' else []
+dep_search_paths = dep_include_paths_str.split(';') if dep_include_paths_str != '' else []
+
+dep_search_paths_dict = {}
+dep_search_paths_tuple_list = []
+is_even = True
+for val in dep_search_paths:
+    if is_even:
+        dep_search_paths_dict.setdefault(val, [])
+        val_prev = val
+        is_even = False
+    else:
+        dep_search_paths_dict[val_prev].append(val)
+        dep_search_paths_tuple_list.append((val_prev, val))
+        is_even = True
+dep_search_paths = dep_search_paths_dict
+
+if not messages and not services:
+    print('message(WARNING "Invoking generate_messages() without having added any message or service file before.\nYou should either add add_message_files() and/or add_service_files() calls or remove the invocation of generate_messages().")')
+
+msg_deps = {}
+msg_dep_types = {}
+for m in messages:
+  try:
+    _deps = genmsg.deps.find_msg_dependencies_with_type(pkg_name, m, dep_search_paths)
+    msg_deps[m] = [d[1] for d in _deps]
+    msg_dep_types[m] = [d[0] for d in _deps]
+  except genmsg.MsgNotFound as e:
+    print('message(FATAL_ERROR "Could not find messages which \'%s\' depends on. Did you forget to specify generate_messages(DEPENDENCIES ...)?\n%s")' % (m, str(e).replace('"', '\\"')))
+
+srv_deps = {}
+srv_dep_types = {}
+for s in services:
+  try:
+    _deps = genmsg.deps.find_srv_dependencies_with_type(pkg_name, s, dep_search_paths)
+    srv_deps[s] = [d[1] for d in _deps]
+    srv_dep_types[s] = [d[0] for d in _deps]
+  except genmsg.MsgNotFound as e:
+    print('message(FATAL_ERROR "Could not find messages which \'%s\' depends on. Did you forget to specify generate_messages(DEPENDENCIES ...)?\n%s")' % (s, str(e).replace('"', '\\"')))
+
+}@
+message(STATUS "@(pkg_name): @(len(messages)) messages, @(len(services)) services")
+
+set(MSG_I_FLAGS "@(';'.join(["-I%s:%s" % (dep, dir) for dep, dir in dep_search_paths_tuple_list]))")
+
+# Find all generators
+@[if langs]@
+@[for l in langs.split(';')]@
+find_package(@l REQUIRED)
+@[end for]@
+@[end if]@
+
+add_custom_target(@(pkg_name)_generate_messages ALL)
+
+# verify that message/service dependencies have not changed since configure
+@{all_deps = dict(list(msg_deps.items()) + list(srv_deps.items()))}
+@{all_dep_types = dict(list(msg_dep_types.items()) + list(srv_dep_types.items()))}
+@[for f in all_deps.keys()]@
+@{dep_types = ':'.join(all_dep_types[f]).replace('\\','/')}
+get_filename_component(_filename "@(f)" NAME_WE)
+add_custom_target(_@(pkg_name)_generate_messages_check_deps_${_filename}
+  COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "@(pkg_name)" "@(f)" "@(dep_types)"
+)
+@[end for]@# messages and services
+
+#
+#  langs = @langs
+#
+
+@[if langs]@
+@[for l in langs.split(';')]@
+### Section generating for lang: @l
+### Generating Messages
+@[for m in msg_deps.keys()]@
+_generate_msg_@(l[3:])(@pkg_name
+  "@m"
+  "${MSG_I_FLAGS}"
+  "@(';'.join(msg_deps[m]).replace("\\","/"))"
+  ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name
+)
+@[end for]@# messages
+
+### Generating Services
+@[for s in srv_deps.keys()]@
+_generate_srv_@(l[3:])(@pkg_name
+  "@s"
+  "${MSG_I_FLAGS}"
+  "@(';'.join(srv_deps[s]).replace("\\","/"))"
+  ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name
+)
+@[end for]@# services
+
+### Generating Module File
+_generate_module_@(l[3:])(@pkg_name
+  ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name
+  "${ALL_GEN_OUTPUT_FILES_@(l[3:])}"
+)
+
+add_custom_target(@(pkg_name)_generate_messages_@(l[3:])
+  DEPENDS ${ALL_GEN_OUTPUT_FILES_@(l[3:])}
+)
+add_dependencies(@(pkg_name)_generate_messages @(pkg_name)_generate_messages_@(l[3:]))
+
+# add dependencies to all check dependencies targets
+@[for f in all_deps.keys()]@
+get_filename_component(_filename "@(f)" NAME_WE)
+add_dependencies(@(pkg_name)_generate_messages_@(l[3:]) _@(pkg_name)_generate_messages_check_deps_${_filename})
+@[end for]@# messages and services
+
+# target for backward compatibility
+add_custom_target(@(pkg_name)_@(l))
+add_dependencies(@(pkg_name)_@(l) @(pkg_name)_generate_messages_@(l[3:]))
+
+# register target for catkin_package(EXPORTED_TARGETS)
+list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS @(pkg_name)_generate_messages_@(l[3:]))
+
+@[end for]@# langs
+@[end if]@
+
+@[if langs]@
+@[for l in langs.split(';')]@
+
+if(@(l)_INSTALL_DIR AND EXISTS ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name)
+@[if l == 'genpy']@
+  install(CODE "execute_process(COMMAND \"@(PYTHON_EXECUTABLE)\" -m compileall \"${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name\")")
+@[end if]@
+  # install generated code
+  install(
+    DIRECTORY ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name
+    DESTINATION ${@(l)_INSTALL_DIR}
+@[if l == 'genpy' and package_has_static_sources]@
+    # skip all init files
+    PATTERN "__init__.py" EXCLUDE
+    PATTERN "__init__.pyc" EXCLUDE
+  )
+  # install init files which are not in the root folder of the generated code
+  string(REGEX REPLACE "([][+.*()^])" "\\\\\\1" ESCAPED_PATH "${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@(pkg_name)")
+  install(
+    DIRECTORY ${CATKIN_DEVEL_PREFIX}/${@(l)_INSTALL_DIR}/@pkg_name
+    DESTINATION ${@(l)_INSTALL_DIR}
+    FILES_MATCHING
+    REGEX "${ESCAPED_PATH}/.+/__init__.pyc?$"
+@[end if]@
+  )
+endif()
+@[for d in dependencies]@
+if(TARGET @(d)_generate_messages_@(l[3:]))
+  add_dependencies(@(pkg_name)_generate_messages_@(l[3:]) @(d)_generate_messages_@(l[3:]))
+endif()
+@[end for]@# dependencies
+@[end for]@# langs
+@[end if]@
@@ -0,0 +1,8 @@
+prefix=@PROJECT_SPACE_DIR
+
+Name: @(CATKIN_PACKAGE_PREFIX + PROJECT_NAME)
+Description: Description of @PROJECT_NAME
+Version: @PROJECT_VERSION
+Cflags: @(' '.join(['-I%s' % include for include in PROJECT_PKG_CONFIG_INCLUDE_DIRS]))
+Libs: -L${prefix}/lib @(' '.join(PKG_CONFIG_LIBRARIES_WITH_PREFIX))
+Requires: @(PROJECT_CATKIN_DEPENDS)