From c1fbad7b86d0b948af1443efb939360897622eee Mon Sep 17 00:00:00 2001 From: Mohamed Fazil Date: Mon, 29 Apr 2024 20:53:54 -0700 Subject: [PATCH 1/5] Multi-camera launch configs fix --- launch/multi_camera.launch.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/launch/multi_camera.launch.py b/launch/multi_camera.launch.py index 6d8b93fe..6dd09b11 100644 --- a/launch/multi_camera.launch.py +++ b/launch/multi_camera.launch.py @@ -12,9 +12,9 @@ {'name': 'camera_name1', 'default': 'camera', 'description': 'camera unique name'}, {'name': 'device_type1', 'default': 'd435', 'description': 'camera unique name'}, {'name': 'json_file_path1', 'default': json_path, 'description': 'allows advanced configuration'}, - {'name': 'depth_module.profile1', 'default': '424x240x15', 'description': 'depth module profile'}, + {'name': 'depth_module.depth_profile1', 'default': '424x240x15', 'description': 'depth module profile'}, {'name': 'enable_depth1', 'default': 'true', 'description': 'enable depth stream'}, - {'name': 'rgb_camera.profile1', 'default': '424x240x15', 'description': 'color image width'}, + {'name': 'rgb_camera.color_profile1', 'default': '424x240x15', 'description': 'color image width'}, {'name': 'enable_color1', 'default': 'true', 'description': 'enable color stream'}, {'name': 'enable_infra11', 'default': 'true', 'description': 'enable infra1 stream'}, {'name': 'enable_infra21', 'default': 'false', 'description': 'enable infra2 stream'}, @@ -35,10 +35,10 @@ {'name': 'camera_name2', 'default': 'gripper_camera', 'description': 'camera unique name'}, {'name': 'device_type2', 'default': 'd405', 'description': 'camera unique name'}, {'name': 'json_file_path2', 'default': json_path, 'description': 'allows advanced configuration'}, - {'name': 'depth_module.profile2', 'default': '480x270x15', 'description': 'depth module profile'}, + {'name': 'depth_module.depth_profile2', 'default': '480x270x15', 'description': 'depth module profile'}, {'name': 'depth_module.enable_auto_exposure2', 'default': 'true', 'description': 'enable/disable auto exposure for depth image'}, {'name': 'enable_depth2', 'default': 'true', 'description': 'enable depth stream'}, - {'name': 'rgb_camera.profile2', 'default': '424x240x15', 'description': 'color image width'}, + {'name': 'rgb_camera.camera_profile2', 'default': '424x240x15', 'description': 'color image width'}, {'name': 'rgb_camera.enable_auto_exposure2', 'default': 'true', 'description': 'enable/disable auto exposure for color image'}, {'name': 'enable_color2', 'default': 'true', 'description': 'enable color stream'}, {'name': 'enable_infra12', 'default': 'false', 'description': 'enable infra1 stream'}, From 95dfed63aacf7341e4e86e18ab29724eb458affb Mon Sep 17 00:00:00 2001 From: Mohamed Fazil Date: Mon, 29 Apr 2024 23:07:45 -0700 Subject: [PATCH 2/5] d405 depth module params fix --- install/.colcon_install_layout | 1 + install/COLCON_IGNORE | 0 install/_local_setup_util_ps1.py | 407 ++++++++++++++++++ install/_local_setup_util_sh.py | 407 ++++++++++++++++++ install/local_setup.bash | 121 ++++++ install/local_setup.ps1 | 55 +++ install/local_setup.sh | 137 ++++++ install/local_setup.zsh | 134 ++++++ install/setup.bash | 34 ++ install/setup.ps1 | 30 ++ install/setup.sh | 49 +++ install/setup.zsh | 34 ++ .../configure_video_streams.py | 270 ++++++++++++ .../stretch_web_teleop/navigation_camera.py | 133 ++++++ .../stretch_web_teleop | 1 + .../packages/stretch_web_teleop | 0 .../parent_prefix_path/stretch_web_teleop | 1 + .../colcon-core/packages/stretch_web_teleop | 1 + .../stretch_web_teleop/certificates/.gitkeep | 0 .../certificates/rootCA-key.pem | 40 ++ .../certificates/rootCA.pem | 29 ++ .../certificates/stretch-se3-3031+6-key.pem | 28 ++ .../certificates/stretch-se3-3031+6.pem | 28 ++ .../stretch_web_teleopConfig-version.cmake | 14 + .../cmake/stretch_web_teleopConfig.cmake | 42 ++ .../configure_video_streams_params.yaml | 92 ++++ .../environment/ament_prefix_path.dsv | 1 + .../environment/ament_prefix_path.sh | 4 + .../stretch_web_teleop/environment/path.dsv | 1 + .../stretch_web_teleop/environment/path.sh | 5 + .../hook/cmake_prefix_path.dsv | 1 + .../hook/cmake_prefix_path.ps1 | 3 + .../hook/cmake_prefix_path.sh | 3 + .../launch/gripper_camera.launch.py | 37 ++ .../launch/multi_camera.launch.py | 88 ++++ .../launch/navigation_camera.launch.py | 38 ++ .../launch/web_interface.launch.py | 314 ++++++++++++++ .../share/stretch_web_teleop/local_setup.bash | 46 ++ .../share/stretch_web_teleop/local_setup.dsv | 2 + .../share/stretch_web_teleop/local_setup.sh | 184 ++++++++ .../share/stretch_web_teleop/local_setup.zsh | 59 +++ .../share/stretch_web_teleop/maps/map.pgm | Bin 0 -> 98960 bytes .../share/stretch_web_teleop/maps/map.yaml | 9 + .../stretch_web_teleop/nodes/blank_image.png | Bin 0 -> 4962 bytes .../nodes/configure_video_streams.py | 270 ++++++++++++ .../nodes/gripper_camera.py | 130 ++++++ .../nodes/navigation_camera.py | 133 ++++++ .../nodes/old_navigation_camera.py | 103 +++++ .../share/stretch_web_teleop/package.bash | 39 ++ .../share/stretch_web_teleop/package.dsv | 8 + .../share/stretch_web_teleop/package.ps1 | 116 +++++ .../share/stretch_web_teleop/package.sh | 87 ++++ .../share/stretch_web_teleop/package.xml | 27 ++ .../share/stretch_web_teleop/package.zsh | 50 +++ launch/multi_camera.launch.py | 4 +- log/COLCON_IGNORE | 0 log/build_2024-04-29_21-21-16/events.log | 78 ++++ log/build_2024-04-29_21-21-16/logger_all.log | 106 +++++ .../stretch_web_teleop/command.log | 6 + .../stretch_web_teleop/stderr.log | 0 .../stretch_web_teleop/stdout.log | 58 +++ .../stretch_web_teleop/stdout_stderr.log | 58 +++ .../stretch_web_teleop/streams.log | 64 +++ log/build_2024-04-29_21-23-12/events.log | 52 +++ log/build_2024-04-29_21-23-12/logger_all.log | 104 +++++ .../stretch_web_teleop/command.log | 4 + .../stretch_web_teleop/stderr.log | 0 .../stretch_web_teleop/stdout.log | 40 ++ .../stretch_web_teleop/stdout_stderr.log | 40 ++ .../stretch_web_teleop/streams.log | 44 ++ log/latest | 1 + log/latest_build | 1 + 72 files changed, 4504 insertions(+), 2 deletions(-) create mode 100644 install/.colcon_install_layout create mode 100644 install/COLCON_IGNORE create mode 100644 install/_local_setup_util_ps1.py create mode 100644 install/_local_setup_util_sh.py create mode 100644 install/local_setup.bash create mode 100644 install/local_setup.ps1 create mode 100644 install/local_setup.sh create mode 100644 install/local_setup.zsh create mode 100644 install/setup.bash create mode 100644 install/setup.ps1 create mode 100644 install/setup.sh create mode 100644 install/setup.zsh create mode 100755 install/stretch_web_teleop/lib/stretch_web_teleop/configure_video_streams.py create mode 100755 install/stretch_web_teleop/lib/stretch_web_teleop/navigation_camera.py create mode 100644 install/stretch_web_teleop/share/ament_index/resource_index/package_run_dependencies/stretch_web_teleop create mode 100644 install/stretch_web_teleop/share/ament_index/resource_index/packages/stretch_web_teleop create mode 100644 install/stretch_web_teleop/share/ament_index/resource_index/parent_prefix_path/stretch_web_teleop create mode 100644 install/stretch_web_teleop/share/colcon-core/packages/stretch_web_teleop create mode 100644 install/stretch_web_teleop/share/stretch_web_teleop/certificates/.gitkeep create mode 100644 install/stretch_web_teleop/share/stretch_web_teleop/certificates/rootCA-key.pem create mode 100644 install/stretch_web_teleop/share/stretch_web_teleop/certificates/rootCA.pem create mode 100644 install/stretch_web_teleop/share/stretch_web_teleop/certificates/stretch-se3-3031+6-key.pem create mode 100644 install/stretch_web_teleop/share/stretch_web_teleop/certificates/stretch-se3-3031+6.pem create mode 100644 install/stretch_web_teleop/share/stretch_web_teleop/cmake/stretch_web_teleopConfig-version.cmake create mode 100644 install/stretch_web_teleop/share/stretch_web_teleop/cmake/stretch_web_teleopConfig.cmake create mode 100644 install/stretch_web_teleop/share/stretch_web_teleop/config/configure_video_streams_params.yaml create mode 100644 install/stretch_web_teleop/share/stretch_web_teleop/environment/ament_prefix_path.dsv create mode 100644 install/stretch_web_teleop/share/stretch_web_teleop/environment/ament_prefix_path.sh create mode 100644 install/stretch_web_teleop/share/stretch_web_teleop/environment/path.dsv create mode 100644 install/stretch_web_teleop/share/stretch_web_teleop/environment/path.sh create mode 100644 install/stretch_web_teleop/share/stretch_web_teleop/hook/cmake_prefix_path.dsv create mode 100644 install/stretch_web_teleop/share/stretch_web_teleop/hook/cmake_prefix_path.ps1 create mode 100644 install/stretch_web_teleop/share/stretch_web_teleop/hook/cmake_prefix_path.sh create mode 100644 install/stretch_web_teleop/share/stretch_web_teleop/launch/gripper_camera.launch.py create mode 100644 install/stretch_web_teleop/share/stretch_web_teleop/launch/multi_camera.launch.py create mode 100644 install/stretch_web_teleop/share/stretch_web_teleop/launch/navigation_camera.launch.py create mode 100644 install/stretch_web_teleop/share/stretch_web_teleop/launch/web_interface.launch.py create mode 100644 install/stretch_web_teleop/share/stretch_web_teleop/local_setup.bash create mode 100644 install/stretch_web_teleop/share/stretch_web_teleop/local_setup.dsv create mode 100644 install/stretch_web_teleop/share/stretch_web_teleop/local_setup.sh create mode 100644 install/stretch_web_teleop/share/stretch_web_teleop/local_setup.zsh create mode 100644 install/stretch_web_teleop/share/stretch_web_teleop/maps/map.pgm create mode 100644 install/stretch_web_teleop/share/stretch_web_teleop/maps/map.yaml create mode 100644 install/stretch_web_teleop/share/stretch_web_teleop/nodes/blank_image.png create mode 100644 install/stretch_web_teleop/share/stretch_web_teleop/nodes/configure_video_streams.py create mode 100644 install/stretch_web_teleop/share/stretch_web_teleop/nodes/gripper_camera.py create mode 100644 install/stretch_web_teleop/share/stretch_web_teleop/nodes/navigation_camera.py create mode 100644 install/stretch_web_teleop/share/stretch_web_teleop/nodes/old_navigation_camera.py create mode 100644 install/stretch_web_teleop/share/stretch_web_teleop/package.bash create mode 100644 install/stretch_web_teleop/share/stretch_web_teleop/package.dsv create mode 100644 install/stretch_web_teleop/share/stretch_web_teleop/package.ps1 create mode 100644 install/stretch_web_teleop/share/stretch_web_teleop/package.sh create mode 100644 install/stretch_web_teleop/share/stretch_web_teleop/package.xml create mode 100644 install/stretch_web_teleop/share/stretch_web_teleop/package.zsh create mode 100644 log/COLCON_IGNORE create mode 100644 log/build_2024-04-29_21-21-16/events.log create mode 100644 log/build_2024-04-29_21-21-16/logger_all.log create mode 100644 log/build_2024-04-29_21-21-16/stretch_web_teleop/command.log create mode 100644 log/build_2024-04-29_21-21-16/stretch_web_teleop/stderr.log create mode 100644 log/build_2024-04-29_21-21-16/stretch_web_teleop/stdout.log create mode 100644 log/build_2024-04-29_21-21-16/stretch_web_teleop/stdout_stderr.log create mode 100644 log/build_2024-04-29_21-21-16/stretch_web_teleop/streams.log create mode 100644 log/build_2024-04-29_21-23-12/events.log create mode 100644 log/build_2024-04-29_21-23-12/logger_all.log create mode 100644 log/build_2024-04-29_21-23-12/stretch_web_teleop/command.log create mode 100644 log/build_2024-04-29_21-23-12/stretch_web_teleop/stderr.log create mode 100644 log/build_2024-04-29_21-23-12/stretch_web_teleop/stdout.log create mode 100644 log/build_2024-04-29_21-23-12/stretch_web_teleop/stdout_stderr.log create mode 100644 log/build_2024-04-29_21-23-12/stretch_web_teleop/streams.log create mode 120000 log/latest create mode 120000 log/latest_build diff --git a/install/.colcon_install_layout b/install/.colcon_install_layout new file mode 100644 index 00000000..3aad5336 --- /dev/null +++ b/install/.colcon_install_layout @@ -0,0 +1 @@ +isolated diff --git a/install/COLCON_IGNORE b/install/COLCON_IGNORE new file mode 100644 index 00000000..e69de29b diff --git a/install/_local_setup_util_ps1.py b/install/_local_setup_util_ps1.py new file mode 100644 index 00000000..83abe630 --- /dev/null +++ b/install/_local_setup_util_ps1.py @@ -0,0 +1,407 @@ +# 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 + # skip over comments + if line.startswith('#'): + 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) diff --git a/install/_local_setup_util_sh.py b/install/_local_setup_util_sh.py new file mode 100644 index 00000000..ff311987 --- /dev/null +++ b/install/_local_setup_util_sh.py @@ -0,0 +1,407 @@ +# 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 + # skip over comments + if line.startswith('#'): + 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) diff --git a/install/local_setup.bash b/install/local_setup.bash new file mode 100644 index 00000000..03f00256 --- /dev/null +++ b/install/local_setup.bash @@ -0,0 +1,121 @@ +# 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" + _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_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 "$COLCON_TRACE" ]; then + echo "$(declare -f _colcon_prefix_sh_source_script)" + 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_bash_COLCON_CURRENT_PREFIX diff --git a/install/local_setup.ps1 b/install/local_setup.ps1 new file mode 100644 index 00000000..6f68c8de --- /dev/null +++ b/install/local_setup.ps1 @@ -0,0 +1,55 @@ +# 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) { + $_colcon_ordered_commands.Split([Environment]::NewLine, [StringSplitOptions]::RemoveEmptyEntries) | Invoke-Expression +} diff --git a/install/local_setup.sh b/install/local_setup.sh new file mode 100644 index 00000000..2727c2dc --- /dev/null +++ b/install/local_setup.sh @@ -0,0 +1,137 @@ +# generated from colcon_core/shell/template/prefix.sh.em + +# This script extends the environment with all packages contained in this +# prefix path. + +# since a plain shell script can't determine its own path when being sourced +# either use the provided COLCON_CURRENT_PREFIX +# or fall back to the build time prefix (if it exists) +_colcon_prefix_sh_COLCON_CURRENT_PREFIX="/home/hello-robot/ament_ws/src/stretch_web_teleop/install" +if [ -z "$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 "${_colcon_ordered_commands}" +unset _colcon_ordered_commands + +unset _colcon_prefix_sh_source_script + +unset _colcon_prefix_sh_COLCON_CURRENT_PREFIX diff --git a/install/local_setup.zsh b/install/local_setup.zsh new file mode 100644 index 00000000..b6487102 --- /dev/null +++ b/install/local_setup.zsh @@ -0,0 +1,134 @@ +# generated from colcon_zsh/shell/template/prefix.zsh.em + +# This script extends the environment with all packages contained in this +# prefix path. + +# a zsh script is able to determine its own path if necessary +if [ -z "$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" + _contained_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 + _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_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 "$COLCON_TRACE" ]; then + echo "$(declare -f _colcon_prefix_sh_source_script)" + 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_zsh_COLCON_CURRENT_PREFIX diff --git a/install/setup.bash b/install/setup.bash new file mode 100644 index 00000000..11b31f54 --- /dev/null +++ b/install/setup.bash @@ -0,0 +1,34 @@ +# 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" +# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script +COLCON_CURRENT_PREFIX="/home/hello-robot/ament_ws/install" +_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 diff --git a/install/setup.ps1 b/install/setup.ps1 new file mode 100644 index 00000000..55dc361a --- /dev/null +++ b/install/setup.ps1 @@ -0,0 +1,30 @@ +# 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: '$_colcon_prefix_chain_powershell_source_script_param'" + } +} + +# source chained prefixes +_colcon_prefix_chain_powershell_source_script "/opt/ros/humble\local_setup.ps1" +_colcon_prefix_chain_powershell_source_script "/home/hello-robot/ament_ws/install\local_setup.ps1" + +# source this prefix +$env:COLCON_CURRENT_PREFIX=(Split-Path $PSCommandPath -Parent) +_colcon_prefix_chain_powershell_source_script "$env:COLCON_CURRENT_PREFIX\local_setup.ps1" diff --git a/install/setup.sh b/install/setup.sh new file mode 100644 index 00000000..8bda15d2 --- /dev/null +++ b/install/setup.sh @@ -0,0 +1,49 @@ +# 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/hello-robot/ament_ws/src/stretch_web_teleop/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" + +# setting COLCON_CURRENT_PREFIX avoids relying on the build time prefix of the sourced script +COLCON_CURRENT_PREFIX="/home/hello-robot/ament_ws/install" +_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 diff --git a/install/setup.zsh b/install/setup.zsh new file mode 100644 index 00000000..d447b89b --- /dev/null +++ b/install/setup.zsh @@ -0,0 +1,34 @@ +# 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" +# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script +COLCON_CURRENT_PREFIX="/home/hello-robot/ament_ws/install" +_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 diff --git a/install/stretch_web_teleop/lib/stretch_web_teleop/configure_video_streams.py b/install/stretch_web_teleop/lib/stretch_web_teleop/configure_video_streams.py new file mode 100755 index 00000000..2b2206e5 --- /dev/null +++ b/install/stretch_web_teleop/lib/stretch_web_teleop/configure_video_streams.py @@ -0,0 +1,270 @@ +#!/usr/bin/env python3 + +import rclpy +from rclpy.node import Node +from rclpy.duration import Duration +from rclpy.time import Time +import message_filters +import numpy as np +import cv2 +import yaml +import sys +import ros2_numpy +import tf2_ros +import pcl +import PyKDL +import math +# from tf2_sensor_msgs.tf2_sensor_msgs import do_transform_cloud +from sensor_msgs.msg import Image, CameraInfo, CompressedImage, PointCloud2, CameraInfo, JointState +from sensor_msgs_py.point_cloud2 import read_points, create_cloud +from cv_bridge import CvBridge +from visualization_msgs.msg import MarkerArray +from rclpy.qos import ReliabilityPolicy, QoSProfile +from rclpy.executors import MultiThreadedExecutor +from std_srvs.srv import SetBool + +class ConfigureVideoStreams(Node): + def __init__(self, params_file, has_beta_teleop_kit): + super().__init__('configure_video_streams') + + with open(params_file, 'r') as params: + self.image_params = yaml.safe_load(params) + + self.declare_parameter("has_beta_teleop_kit", rclpy.Parameter.Type.BOOL) + + self.tf_buffer = tf2_ros.Buffer(cache_time=Duration(seconds=12)) + self.tf2_listener = tf2_ros.TransformListener(self.tf_buffer, self) + + # Loaded params for each video stream + self.overhead_params = self.image_params["overhead"] if "overhead" in self.image_params else None + self.realsense_params = self.image_params["realsense"] if "realsense" in self.image_params else None + self.gripper_params = self.image_params["gripper"] if "gripper" in self.image_params else None + + # Stores all the images created using the loaded params + self.overhead_images = {} + self.realsense_images = {} + self.gripper_images = {} + + self.realsense_rgb_image = None + self.overhead_camera_rgb_image = None + self.gripper_camera_rgb_image = None + self.cv_bridge = CvBridge() + + # Compressed Image publishers + self.publisher_realsense_cmp = self.create_publisher(CompressedImage, '/camera/color/image_raw/rotated/compressed', 15) + self.publisher_overhead_cmp = self.create_publisher(CompressedImage, '/navigation_camera/image_raw/rotated/compressed', 15) + self.publisher_gripper_cmp = self.create_publisher(CompressedImage, '/gripper_camera/image_raw/cropped/compressed', 15) + + # Subscribers + self.camera_rgb_subscriber = message_filters.Subscriber(self, Image, "/camera/color/image_raw") + self.overhead_camera_rgb_subscriber = self.create_subscription(Image, "/navigation_camera/image_raw", self.navigation_camera_cb, QoSProfile(depth=1, reliability=ReliabilityPolicy.RELIABLE)) + self.gripper_camera_rgb_subscriber = self.create_subscription(Image, "/gripper_camera/image_raw", self.gripper_camera_cb, 1) + self.joint_state_subscription = self.create_subscription(JointState, "/stretch/joint_states", self.joint_state_cb, 1) + self.point_cloud_subscriber = message_filters.Subscriber(self, PointCloud2, "/camera/depth/color/points") + self.camera_info_subscriber = self.create_subscription(CameraInfo, "/camera/aligned_depth_to_color/camera_info", self.camera_info_cb, 1) + self.camera_synchronizer = message_filters.ApproximateTimeSynchronizer([ + self.camera_rgb_subscriber, + self.point_cloud_subscriber, + ], 1, 1, allow_headerless=True) + self.camera_synchronizer.registerCallback(self.realsense_cb) + + # Default image perspectives + # self.get_logger().info(f"wide_angle_cam={wide_angle_cam} d405={d405}") + self.overhead_camera_perspective = "fixed" if has_beta_teleop_kit else "wide_angle_cam" + self.realsense_camera_perspective = "default" + self.gripper_camera_perspective = "default" if has_beta_teleop_kit else "d405" + self.get_logger().info(self.gripper_camera_perspective) + + # Service for enabling the depth AR overlay on the realsense stream + self.depth_ar_service = self.create_service(SetBool, 'depth_ar', self.depth_ar_callback) + self.depth_ar = False + self.pcl_cloud_filtered = None + + self.roll_value = 0.0 + + # https://github.com/ros/geometry2/blob/noetic-devel/tf2_sensor_msgs/src/tf2_sensor_msgs/tf2_sensor_msgs.py#L44 + def transform_to_kdl(self, t): + return PyKDL.Frame(PyKDL.Rotation.Quaternion(t.transform.rotation.x, t.transform.rotation.y, + t.transform.rotation.z, t.transform.rotation.w), + PyKDL.Vector(t.transform.translation.x, + t.transform.translation.y, + t.transform.translation.z)) + + # https://github.com/ros/geometry2/blob/noetic-devel/tf2_sensor_msgs/src/tf2_sensor_msgs/tf2_sensor_msgs.py#L52 + def do_transform_cloud(self, cloud, transform): + t_kdl = self.transform_to_kdl(transform) + points_out = [] + points = cloud.to_array() + for p_in in points: + p_out = t_kdl * PyKDL.Vector(p_in[0], p_in[1], p_in[2]) + points_out.append([p_out[0], p_out[1], p_out[2]]) + return np.array(points_out) + + def camera_info_cb(self, msg): + self.P = np.array(msg.p).reshape(3,4) + # self.camera_info_subscriber.destroy() + + def pc_callback(self, msg, img): + pc_in_camera = ros2_numpy.point_cloud2.pointcloud2_to_xyz_array(msg) + pcl_cloud = pcl.PointCloud(np.array(pc_in_camera, dtype=np.float32)) + passthrough = pcl_cloud.make_passthrough_filter() + passthrough.set_filter_field_name("z") + passthrough.set_filter_limits(0.01, 1.5) + self.pcl_cloud_filtered = passthrough.filter() + + # Get transform + try: + transform = self.tf_buffer.lookup_transform( + 'base_link', + 'camera_color_optical_frame', + Time(), + timeout=Duration(seconds=0.1) + ) + except: + self.get_logger().warn("Could not find the transform between frames {} and {}".format('base_link', 'camera_color_optical_frame')) + return img + + if not self.pcl_cloud_filtered: return img + if self.pcl_cloud_filtered.to_array().size == 0: return img + + # Transform points cloud to base link and points that are in robot's reach + pc_in_base_link = self.do_transform_cloud(self.pcl_cloud_filtered, transform) + # pc_in_base_link = ros2_numpy.point_cloud2.pointcloud2_to_xyz_array(pc_in_base_link_msg) + dist = np.sqrt(np.power(pc_in_base_link[:,0], 2) + np.power(pc_in_base_link[:,1], 2)) + filtered_indices = np.where((dist > 0.25) & (dist < 1))[0] + + # Get filtered points in camera frame + # pc_in_camera = ros2_numpy.point_cloud2.pointcloud2_to_xyz_array(msg) # N x 3 + pts_in_range = self.pcl_cloud_filtered.to_array()[filtered_indices, :] + pts_in_range = np.hstack((pts_in_range, np.ones((pts_in_range.shape[0],1)))) + + # Get pixel coordinates + coords = np.matmul(self.P, np.transpose(pts_in_range)) # 3 x N + x_idx = np.absolute((coords[0,:]/coords[2,:]).astype(int)) + y_idx = np.absolute((coords[1,:]/coords[2,:]).astype(int)) + # negative_indices = np.where((x_idx < 0) or (y_idx < 0)) + + # Change color of pixels in robot's reach + if img is not None: + img[x_idx, img.shape[1] - 1 - y_idx, :] = [255, 191, 0, 50] + # img[y_idx, x_idx, 3] = 0 + + return img + + def depth_ar_callback(self, req, res): + self.depth_ar = req.data + res.success = True + return res + + def crop_image(self, image, params): + if params["x_min"] is None: raise ValueError("Crop x_min is not defined!") + if params["x_max"] is None: raise ValueError("Crop x_max is not defined!") + if params["y_min"] is None: raise ValueError("Crop y_min is not defined!") + if params["y_max"] is None: raise ValueError("Crop y_max is not defined!") + + x_min = params["x_min"] + x_max = params["x_max"] + y_min = params["y_min"] + y_max = params["y_max"] + + return image[x_min:x_max, y_min:y_max] + + # https://stackoverflow.com/questions/44865023/how-can-i-create-a-circular-mask-for-a-numpy-array + def create_circular_mask(self, h, w, center=None, radius=None): + if center is None: # use the middle of the image + center = (int(w/2), int(h/2)) + if radius is None: # use the smallest distance between the center and image walls + radius = min(center[0], center[1], w-center[0], h-center[1]) + + Y, X = np.ogrid[:h, :w] + dist_from_center = np.sqrt((X - center[0])**2 + (Y-center[1])**2) + + mask = dist_from_center <= radius + return mask + + def mask_image(self, image, params): + if params["width"] is None: raise ValueError("Mask width is not defined!") + if params["height"] is None: raise ValueError("Mask height is not defined!") + + w = params["width"] + h = params["height"] + center = (params["center"]["x"], params["center"]["y"]) if params["center"] else None + radius = params["radius"] + + mask = self.create_circular_mask(h, w, center, radius) + img = image.copy() + img[~mask] = 200 + return img + + def rotate_image(self, image, value): + if value == 'ROTATE_90_CLOCKWISE': + return cv2.rotate(image, cv2.ROTATE_90_CLOCKWISE) + elif value == "ROTATE_180": + return cv2.rotate(image, cv2.ROTATE_180) + elif value == "ROTATE_90_COUNTERCLOCKWISE": + return cv2.rotate(image, cv2.ROTATE_90_COUNTERCLOCKWISE) + else: + raise ValueError("Invalid rotate image value: options are ROTATE_90_CLOCKWISE, ROTATE_180, or ROTATE_90_COUNTERCLOCKWISE") + + def configure_images(self, rgb_image, params): + # if rgb_image.shape[-1] == 2: + # rgb_image = cv2.cvtColor(rgb_image, cv2.COLOR_YUV2RGB_YVYU) + # else: + + rgb_image = cv2.cvtColor(rgb_image, cv2.COLOR_BGR2RGB) + if params: + if params['crop']: + rgb_image = self.crop_image(rgb_image, params['crop']) + if params['mask']: + rgb_image = self.mask_image(rgb_image, params['mask']) + if params['rotate']: + rgb_image = self.rotate_image(rgb_image, params['rotate']) + return rgb_image + + def realsense_cb(self, ros_image, pc): + image = self.cv_bridge.imgmsg_to_cv2(ros_image) + for image_config_name in self.realsense_params: + img = self.configure_images(image, self.realsense_params[image_config_name]) + img = cv2.cvtColor(img, cv2.COLOR_RGB2RGBA) + if self.depth_ar: img = self.pc_callback(pc, img) + # if self.aruco_markers: img = self.aruco_markers_callback(marker_msg, img) + self.realsense_images[image_config_name] = img + + self.realsense_rgb_image = self.realsense_images[self.realsense_camera_perspective] + self.publish_compressed_msg(self.realsense_rgb_image, self.publisher_realsense_cmp) + + def gripper_camera_cb(self, ros_image): + image = self.cv_bridge.imgmsg_to_cv2(ros_image, 'rgb8') + img = self.rotate_image_around_center(image, -1*self.roll_value) + self.gripper_camera_rgb_image = self.configure_images(img, self.gripper_params[self.gripper_camera_perspective]) + self.publish_compressed_msg(self.gripper_camera_rgb_image, self.publisher_gripper_cmp) + + def navigation_camera_cb(self, ros_image): + image = self.cv_bridge.imgmsg_to_cv2(ros_image, 'rgb8') + self.overhead_camera_rgb_image = self.configure_images(image, self.overhead_params[self.overhead_camera_perspective]) + self.publish_compressed_msg(self.overhead_camera_rgb_image, self.publisher_overhead_cmp) + + def rotate_image_around_center(self, image, angle): + image_center = tuple(np.array(image.shape[1::-1]) / 2) + rot_mat = cv2.getRotationMatrix2D(image_center, math.degrees(angle), 1.0) + result = cv2.warpAffine(image, rot_mat, image.shape[1::-1], flags=cv2.INTER_LINEAR) + return result + + def joint_state_cb(self, joint_state): + if 'joint_wrist_roll' in joint_state.name: + roll_index = joint_state.name.index('joint_wrist_roll') + self.roll_value = joint_state.position[roll_index] + + def publish_compressed_msg(self, image, publisher): + msg = CompressedImage() + msg.header.stamp = self.get_clock().now().to_msg() + msg.format = "jpeg" + msg.data = np.array(cv2.imencode('.jpg', image)[1]).tobytes() + publisher.publish(msg) + +if __name__ == '__main__': + rclpy.init() + print(sys.argv) + node = ConfigureVideoStreams(sys.argv[1], sys.argv[2] == "True") + print("Publishing reconfigured video stream") + rclpy.spin(node) diff --git a/install/stretch_web_teleop/lib/stretch_web_teleop/navigation_camera.py b/install/stretch_web_teleop/lib/stretch_web_teleop/navigation_camera.py new file mode 100755 index 00000000..2db441c7 --- /dev/null +++ b/install/stretch_web_teleop/lib/stretch_web_teleop/navigation_camera.py @@ -0,0 +1,133 @@ +#! /usr/bin/env python3 + + +# my_image_publisher/my_image_publisher/publisher_node.py + +import cv2 +from sensor_msgs.msg import Image +from cv_bridge import CvBridge +import rclpy +from rclpy.node import Node +import threading +from rclpy.executors import MultiThreadedExecutor +import os + +UVC_COLOR_SIZE = [1280, 800] # [3840,2880] [1920, 1080] [1280, 720] [1280, 800] [640, 480] +UVC_FPS = 100 + +UVC_VIDEO_INDEX = '/dev/hello-nav-head-camera' +UVC_VIDEO_FORMAT = 'MJPG' # MJPG YUYV + +UVC_BRIGHTNESS = 10 # brightness 0x00980900 (int) : min=-64 max=64 step=1 default=0 value=0 +UVC_CONTRAST = 30 # contrast 0x00980901 (int) : min=0 max=64 step=1 default=32 value=32 +UVC_SATURATION = 80 # saturation 0x00980902 (int) : min=0 max=128 step=1 default=90 value=90 +UVC_HUE = 0 # hue 0x00980903 (int) : min=-40 max=40 step=1 default=0 value=0 +UVC_GAMMA = 80 # gamma 0x00980910 (int) : min=72 max=500 step=1 default=100 value=100 +UVC_GAIN = 10 # gain 0x00980913 (int) : min=0 max=100 step=1 default=0 value=0 +UVC_WB_TEMP = 4600 # white_balance_temperature 0x0098091a (int) : min=2800 max=6500 step=1 default=4600 value=4600 flags=inactive +UVC_SHARPNESS = 3 # sharpness 0x0098091b (int) : min=0 max=6 step=1 default=3 value=3 +UVC_BACKLIT_COMP = 1 # backlight_compensation 0x0098091c (int) : min=0 max=2 step=1 default=1 value=1 +UVC_EXPOSURE_TIME = 157 # exposure_time_absolute 0x009a0902 (int) : min=1 max=5000 step=1 default=157 value=157 flags=inactive + +# More UVC Video capture properties here: +# https://docs.opencv.org/3.4/d4/d15/group__videoio__flags__base.html +# +# Arducam wiki info site +# https://docs.arducam.com/UVC-Camera/Appilcation-Note/OpenCV-Python-GStreamer-on-linux/ +# +# Setting Video formates using v4l2 +# http://trac.gateworks.com/wiki/linux/v4l2 +# +# + + +def setup_uvc_camera(device_index, size, fps): + cap = cv2.VideoCapture(device_index) + cap.set(cv2.CAP_PROP_FRAME_WIDTH, size[0]) + cap.set(cv2.CAP_PROP_FRAME_HEIGHT, size[1]) + cap.set(cv2.CAP_PROP_FPS, fps) + return cap + + + +UVC_SETTINGS = {'brightness':UVC_BRIGHTNESS, + 'contrast':UVC_CONTRAST, + 'hue':UVC_HUE, + 'gamma':UVC_GAMMA, + 'gain':UVC_GAIN, + 'white_balance_temperature':UVC_WB_TEMP, + 'sharpness':UVC_SHARPNESS, + 'backlight_compensation':UVC_BACKLIT_COMP, + 'exposure_time_absolute':UVC_EXPOSURE_TIME} + +# Set video format and size +cmd = f"v4l2-ctl --device {UVC_VIDEO_INDEX} --set-fmt-video=width={UVC_COLOR_SIZE[0]},height={UVC_COLOR_SIZE[1]}" +os.system(cmd) + +# Set UVC SettingsNone +for k in list(UVC_SETTINGS.keys()): + cmd = f"v4l2-ctl --device {UVC_VIDEO_INDEX} --set-ctrl={k}={UVC_SETTINGS[k]}" + os.system(cmd) + + + + +class ImagePublisherNode(Node): + def __init__(self): + super().__init__('image_publisher_node') + self.publisher = self.create_publisher(Image, '/navigation_camera/image_raw', 15) + timer_period = 0.001 # seconds + self.timer = self.create_timer(timer_period, self.timer_callback) + self.timer2 = self.create_timer(timer_period, self.timer_callback2) + self.cv_bridge = CvBridge() + self.uvc_camera = setup_uvc_camera(UVC_VIDEO_INDEX, UVC_COLOR_SIZE, UVC_FPS) + self.image_msg = None + # self.uvc_camera_thread = threading.Thread(target=self.stream_camera) + # self.uvc_camera_thread.start() + + # def stream_camera(self): + # print("Starting Image Stream") + # while True: + # # Capture an image using OpenCV + # try: + # ret, image_uvc = self.uvc_camera.read() + # # Convert the OpenCV image to a ROS Image message + # self.image_msg = self.cv_bridge.cv2_to_imgmsg(image_uvc, encoding='bgr8') + # print("Updated") + # except Exception as e: + # print(f"Error UVC Cam: {e}") + + def timer_callback(self): + # Publish the image message + if self.image_msg is not None: + # print("Published") + self.publisher.publish(self.image_msg) + + def timer_callback2(self): + try: + ret, image_uvc = self.uvc_camera.read() + # Convert the OpenCV image to a ROS Image message + self.image_msg = self.cv_bridge.cv2_to_imgmsg(image_uvc, encoding='bgr8') + # print("Updated") + except Exception as e: + print(f"Error UVC Cam: {e}") + + + +def main(args=None): + rclpy.init(args=args) + + image_publisher_node = ImagePublisherNode() + + executor = MultiThreadedExecutor() + executor.add_node(image_publisher_node) + try: + rclpy.spin(image_publisher_node, executor) + except KeyboardInterrupt: + pass + finally: + image_publisher_node.destroy_node() + rclpy.shutdown() + +if __name__ == '__main__': + main() diff --git a/install/stretch_web_teleop/share/ament_index/resource_index/package_run_dependencies/stretch_web_teleop b/install/stretch_web_teleop/share/ament_index/resource_index/package_run_dependencies/stretch_web_teleop new file mode 100644 index 00000000..30bcc1dc --- /dev/null +++ b/install/stretch_web_teleop/share/ament_index/resource_index/package_run_dependencies/stretch_web_teleop @@ -0,0 +1 @@ +rosbridge_server;imu_filter_madgwick;usb_cam;tf2_sensor_msgs;cv_bridge;compressed_image_transport;pcl_ros;image_publisher \ No newline at end of file diff --git a/install/stretch_web_teleop/share/ament_index/resource_index/packages/stretch_web_teleop b/install/stretch_web_teleop/share/ament_index/resource_index/packages/stretch_web_teleop new file mode 100644 index 00000000..e69de29b diff --git a/install/stretch_web_teleop/share/ament_index/resource_index/parent_prefix_path/stretch_web_teleop b/install/stretch_web_teleop/share/ament_index/resource_index/parent_prefix_path/stretch_web_teleop new file mode 100644 index 00000000..370c1e88 --- /dev/null +++ b/install/stretch_web_teleop/share/ament_index/resource_index/parent_prefix_path/stretch_web_teleop @@ -0,0 +1 @@ +/home/hello-robot/ament_ws/install/tf2_web_republisher_py:/home/hello-robot/ament_ws/install/tf2_web_republisher:/home/hello-robot/ament_ws/install/stretch_web_teleop:/home/hello-robot/ament_ws/install/stretch_rtabmap:/home/hello-robot/ament_ws/install/stretch_ros_tutorials:/home/hello-robot/ament_ws/install/stretch_nav2:/home/hello-robot/ament_ws/install/stretch_funmap:/home/hello-robot/ament_ws/install/stretch_calibration:/home/hello-robot/ament_ws/install/stretch_description:/home/hello-robot/ament_ws/install/stretch_demos:/home/hello-robot/ament_ws/install/stretch_deep_perception:/home/hello-robot/ament_ws/install/stretch_core:/home/hello-robot/ament_ws/install/respeaker_ros2:/home/hello-robot/ament_ws/install/speech_recognition_msgs:/home/hello-robot/ament_ws/install/sound_play_msgs:/home/hello-robot/ament_ws/install/audio_common:/home/hello-robot/ament_ws/install/sound_play:/home/hello-robot/ament_ws/install/sllidar_ros2:/home/hello-robot/ament_ws/install/rosbridge_test_msgs:/home/hello-robot/ament_ws/install/rosbridge_suite:/home/hello-robot/ament_ws/install/rosbridge_server:/home/hello-robot/ament_ws/install/rosbridge_msgs:/home/hello-robot/ament_ws/install/rosapi:/home/hello-robot/ament_ws/install/rosbridge_library:/home/hello-robot/ament_ws/install/rosapi_msgs:/home/hello-robot/ament_ws/install/ros2_numpy:/home/hello-robot/ament_ws/install/realsense2_description:/home/hello-robot/ament_ws/install/realsense2_camera:/home/hello-robot/ament_ws/install/realsense2_camera_msgs:/home/hello-robot/ament_ws/install/hello_helpers:/home/hello-robot/ament_ws/install/audio_play:/home/hello-robot/ament_ws/install/audio_capture:/home/hello-robot/ament_ws/install/audio_common_msgs:/opt/ros/humble \ No newline at end of file diff --git a/install/stretch_web_teleop/share/colcon-core/packages/stretch_web_teleop b/install/stretch_web_teleop/share/colcon-core/packages/stretch_web_teleop new file mode 100644 index 00000000..330bdd07 --- /dev/null +++ b/install/stretch_web_teleop/share/colcon-core/packages/stretch_web_teleop @@ -0,0 +1 @@ +compressed_image_transport:cv_bridge:image_publisher:imu_filter_madgwick:pcl_ros:rosbridge_server:tf2_sensor_msgs:usb_cam \ No newline at end of file diff --git a/install/stretch_web_teleop/share/stretch_web_teleop/certificates/.gitkeep b/install/stretch_web_teleop/share/stretch_web_teleop/certificates/.gitkeep new file mode 100644 index 00000000..e69de29b diff --git a/install/stretch_web_teleop/share/stretch_web_teleop/certificates/rootCA-key.pem b/install/stretch_web_teleop/share/stretch_web_teleop/certificates/rootCA-key.pem new file mode 100644 index 00000000..209b8061 --- /dev/null +++ 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CERTIFICATE----- +MIIFBzCCA2+gAwIBAgIQYy5uHHFP7mM2VNDzI4cRkTANBgkqhkiG9w0BAQsFADCB +mzEeMBwGA1UEChMVbWtjZXJ0IGRldmVsb3BtZW50IENBMTgwNgYDVQQLDC9oZWxs +by1yb2JvdEBzdHJldGNoLXNlMy0zMDMxIChIZWxsbyBSb2JvdCBJbmMuKTE/MD0G +A1UEAww2bWtjZXJ0IGhlbGxvLXJvYm90QHN0cmV0Y2gtc2UzLTMwMzEgKEhlbGxv +IFJvYm90IEluYy4pMB4XDTI0MDQzMDA0MDcyMloXDTM0MDQzMDA0MDcyMlowgZsx +HjAcBgNVBAoTFW1rY2VydCBkZXZlbG9wbWVudCBDQTE4MDYGA1UECwwvaGVsbG8t +cm9ib3RAc3RyZXRjaC1zZTMtMzAzMSAoSGVsbG8gUm9ib3QgSW5jLikxPzA9BgNV +BAMMNm1rY2VydCBoZWxsby1yb2JvdEBzdHJldGNoLXNlMy0zMDMxIChIZWxsbyBS +b2JvdCBJbmMuKTCCAaIwDQYJKoZIhvcNAQEBBQADggGPADCCAYoCggGBALL8aWXA +DY/jqScOHSLhU/G1HYTajXAQYX1E6dEaqAX/NEUcLmrAlcNnT9fAR/MftAEJPXJa +b1w87OYt1/F92f96Z9wY/G32AaBmvmKJJcIO8zR7m3Tlce4Dpy8nv0ZjsNWjWor6 +Bta58L9RmE1ZbxVI2AkWViFIvbhy+PxJbpCuaHgTYaV+H6McEQCQAlpcSDV+2M+D +jgE2WfLUK7WYUQ1Re+zz/15ntm4UwxXkgi3yGMtrqO+kaFYmTyMi+6+QcMU7jdm+ +jA9FKTbZIygfZNLMRKpJ0ncnlLmpx6emWCkH2reN/1oQ++0odBzUDxyzn99TSpVU +suN0BXC8sKgpthCjUpSk4DnJsCvbZfTqEHY08BQD7x9MeNEAQfT/ZZYlsHXzFKTF +5m8nD2HcmVERWIzUnD87s0TspymkBlvZmU8B9C6jHZmFoLuC1GFULo4mwFw1T3Xs +Ds8QQDFl9cOwRQVHr2NRib2RzRlaZivSqSDlwHX8Frbbh4817NzVgJTu8wIDAQAB +o0UwQzAOBgNVHQ8BAf8EBAMCAgQwEgYDVR0TAQH/BAgwBgEB/wIBADAdBgNVHQ4E +FgQU7yU3hS18RnklvO3LbyFyLffmp2IwDQYJKoZIhvcNAQELBQADggGBADaGKdg5 +1GTg2Ng95qubt47bQGr821hP/idluNfjZ3KIUALsgtHKSTiVlet8e7nAJNjg9RIt +I8eeLJY8mfPwb+jyM9iB7EMEpV6DM2qAAesHvI79WNAFGITXwLv0y5fbr73kHLMl +wh0uL/z5Rm7tEmTk0jivEDtu51+ib4W1PmPiVCQgqYhOHD8JtbirRoj+8TsfiBWA +Hqjo0K1b6wy6YGtYH2Oeu/cGWOfzO7jrbD4kv+0AogU9KXlFfcrdIJSGRQN1g1vx +LMzXrwDmQfHGmec8HxRROti9Zt+1iMBITPpKQ+nt9vV2N6Np52Fu+jXu5HA3SZHK +u9UymLo89xhjx3f5CVq515o90BFitbf3gt/Ar1uVo55h/vkgLpIhXbJ4fyWVvSM5 +vTKUkzlgmh3U2qm25XGcxEEMDakqcxTu/vCNUfT1qg/rXepwZLgZdCeqyegOj49x +nEn1iC0XipjRznzL5oLanMkfSTQ2qKvQKegOH0XtQImXG0udMKpWo+yJfg== +-----END CERTIFICATE----- diff --git a/install/stretch_web_teleop/share/stretch_web_teleop/certificates/stretch-se3-3031+6-key.pem b/install/stretch_web_teleop/share/stretch_web_teleop/certificates/stretch-se3-3031+6-key.pem new file mode 100644 index 00000000..a47f58cf --- /dev/null +++ b/install/stretch_web_teleop/share/stretch_web_teleop/certificates/stretch-se3-3031+6-key.pem @@ -0,0 +1,28 @@ +-----BEGIN PRIVATE KEY----- +MIIEvAIBADANBgkqhkiG9w0BAQEFAASCBKYwggSiAgEAAoIBAQDDT8hCECEc7H3m +8Lw21bCPki2b+n6XuDdDE3e2fFTfjfobalD2s2H5E8pi3cVpgK0UUU3vbep/G99u +WevNKXPUP1QjApeRrFYZvWyum2UvKjO29WT+1/KS0/4UvYXdfjLW196IsNaxL+1t +tc3br2MwbASXpsVxylQVTMzU+wQiCYpIlSGrJ7PZgY77ova1IZ504zuHHU0qarwl +neXkbLKkt9+9GPTKOloelVhOk7iYUnsDL/92vTVpOODnT7/Wn566LQEtj4VKBHhi +tX6AebvPHNmd2FC6rNzVl2ukvRZYFp2OpmuIFvXMQwNTJqjPWe3ZFFe3zZutgiyT +jZuAkjGnAgMBAAECggEAHljcLd+htYPNgD+xjvefCn/VFGJUnzBhbcutky44ZdAC +p5XaZKq0s2Xu0XPSA7WZrwl/CY/TmtJy4guYxvUE6Vq5sQLrGBhl/HPhWjQNAcoV +5Py2J57YMxY7aW+VSDgeoCFEk4qeoUNoKd7Q0Kysxc5S3FluXmLos7KONR2Xo83/ ++8g9G8i+f52XYJzppqMeIn56x7vcQhBu7QLwVeHjFmMAxnQBjPw2a3mM3Tsffr5K +B8RvBNXz4dGEWji2Ub2kZV8Q/hhl6CAVInFvUMD1dkSwFTGCVQ1/9NbgWasDuhjy +v0IDP9Ny43m6R3SZ6Zbs/V1v7RNbYypiB7iLnLTAEQKBgQDxhJVKvRailm8NVJr9 +LqgIeGLi/h9NxoTVLqORtbVvyoAOjq30mCe0hzMe6P3N2sm6hQ1j5WCWyoM62ci4 +36T1dAhflz3AegxLc3IAcOB/1lHjjW8K2JQDAq8ClLCyul0eNoCoPlV7FibjTNYz +8Ur4YzFN3pglni3kpw0N2ea1LwKBgQDPBekkFXbz1te0TeccNF+sHoZ/jAScEHDz +kuYu2qreL2o+ZyOg3Xue/MYYvtucm9oitomchDBuQagYCzzzi5uAzGD1OUREwvJ8 +xA8U68RrVGyTuDsHBOuMaNJOwKwkvQHA53OCB2TYiRgIkIL0EhooHDO0iSf5enTO +nvsz5SidCQKBgDz1Bq03bmgY6eyGZxvx061XnTXHh+UcbthTjisvnpyZkpqZ/mPW +p2bUHN33Vl/HkdTG0itdcHR+poKLBzNKFxtwbtCZnpde9o1wlNxxoOgDEuYJA3bM +VQcxfTR8jOB/UxNWFEDigravT59c/E9d3ls0xfPuc55C/zhPxWaykZ03AoGASMPA +FWHCBKS//mzfTYePFRVJmu0g9aXFvaclZtSO+DdcNYDVAga3G8Om8S2sTRhujILy +TWQdDbPgHEte6g9o4dV0Qt0VBMIsrvPOhUD1MfBjlWxMuwPcsuZo/Ss1llgklKQF +cm+c34sYOnJoxNbUAMMg3VTUCxkikzlH/A6QvtkCgYAqfFW7f/PqEBMfhndmhiSG +z/W29YKFhr9SoJwothhC5Mp+G5Q4cwk5jAe153Z+AVPva+9ODP7gmVR12122q+n5 +uQPU6Tk0kKP6snRx9HSRHH/HYBUlGW3aLOadtGT7gMx6F5UjWbO6g7Y6YIaR2mqk +ZzthO3w5LB/U4wa6Xj510w== +-----END PRIVATE KEY----- diff --git a/install/stretch_web_teleop/share/stretch_web_teleop/certificates/stretch-se3-3031+6.pem b/install/stretch_web_teleop/share/stretch_web_teleop/certificates/stretch-se3-3031+6.pem new file mode 100644 index 00000000..ac95dd3b --- /dev/null +++ b/install/stretch_web_teleop/share/stretch_web_teleop/certificates/stretch-se3-3031+6.pem @@ -0,0 +1,28 @@ +-----BEGIN CERTIFICATE----- +MIIExzCCAy+gAwIBAgIQVIU9wgO3EZKhYEURnNkqrjANBgkqhkiG9w0BAQsFADCB +mzEeMBwGA1UEChMVbWtjZXJ0IGRldmVsb3BtZW50IENBMTgwNgYDVQQLDC9oZWxs +by1yb2JvdEBzdHJldGNoLXNlMy0zMDMxIChIZWxsbyBSb2JvdCBJbmMuKTE/MD0G +A1UEAww2bWtjZXJ0IGhlbGxvLXJvYm90QHN0cmV0Y2gtc2UzLTMwMzEgKEhlbGxv +IFJvYm90IEluYy4pMB4XDTI0MDQzMDA0MDcyM1oXDTI2MDczMDA0MDcyM1owYzEn +MCUGA1UEChMebWtjZXJ0IGRldmVsb3BtZW50IGNlcnRpZmljYXRlMTgwNgYDVQQL +DC9oZWxsby1yb2JvdEBzdHJldGNoLXNlMy0zMDMxIChIZWxsbyBSb2JvdCBJbmMu +KTCCASIwDQYJKoZIhvcNAQEBBQADggEPADCCAQoCggEBAMNPyEIQIRzsfebwvDbV +sI+SLZv6fpe4N0MTd7Z8VN+N+htqUPazYfkTymLdxWmArRRRTe9t6n8b325Z680p +c9Q/VCMCl5GsVhm9bK6bZS8qM7b1ZP7X8pLT/hS9hd1+MtbX3oiw1rEv7W21zduv +YzBsBJemxXHKVBVMzNT7BCIJikiVIasns9mBjvui9rUhnnTjO4cdTSpqvCWd5eRs +sqS3370Y9Mo6Wh6VWE6TuJhSewMv/3a9NWk44OdPv9afnrotAS2PhUoEeGK1foB5 +u88c2Z3YULqs3NWXa6S9FlgWnY6ma4gW9cxDA1MmqM9Z7dkUV7fNm62CLJONm4CS +MacCAwEAAaOBvTCBujAOBgNVHQ8BAf8EBAMCBaAwEwYDVR0lBAwwCgYIKwYBBQUH +AwEwHwYDVR0jBBgwFoAU7yU3hS18RnklvO3LbyFyLffmp2IwcgYDVR0RBGswaYIQ +c3RyZXRjaC1zZTMtMzAzMYIWc3RyZXRjaC1zZTMtMzAzMS5sb2NhbIIUc3RyZXRj +aC1zZTMtMzAzMS5kZXaCCWxvY2FsaG9zdIcEfwAAAYcEAAAAAIcQAAAAAAAAAAAA +AAAAAAAAATANBgkqhkiG9w0BAQsFAAOCAYEAri66WVvLlug5AVYoMd9UIonVzgqO +JW4ypZazRJxPQ14LaCFbtZjpnUx92jH4fdG947g9gmcUwhpVmeb9tCo9+mhzNp4y +g0FGovVRh/IF/C4uTuB4g4hVYXrVEfxdawUagzn1EYTzM/oMuBvz5gmZEFa9U8DQ +d9BhyLTRsshG3QVnNkraADt+BKaVkKnpqBxhATzpYf9GO0cb1pdA5df0sq0d9jPb +ssann7WcsScrVMwl6+lmsyfTJKrrPn8hN9iwzEs7KxgECPE5kOJJ1t1QDV4ZwqDw +KD3RR47LCyFRT9szh3Megs1JNOYEiaV0XIAIfvNFjjWTSSpPC4cDZvNu6gQHb3+b +drEVdMxvFOzfbDH3clALsAEST+y7n65ZID0uhIGkCgxqDk82cSonDeJ1muoyWMmO +c4hC16LjOvDi8o6WI+3XTL/cDY5El6cuxUZZ+3/RNkwFS0Qm4/98Sk01H97DUKGY +xHjzVe2SEbETdHcVxFGueVD6NotV1BAIfMR/ +-----END CERTIFICATE----- diff --git a/install/stretch_web_teleop/share/stretch_web_teleop/cmake/stretch_web_teleopConfig-version.cmake b/install/stretch_web_teleop/share/stretch_web_teleop/cmake/stretch_web_teleopConfig-version.cmake new file mode 100644 index 00000000..dfe07300 --- /dev/null +++ b/install/stretch_web_teleop/share/stretch_web_teleop/cmake/stretch_web_teleopConfig-version.cmake @@ -0,0 +1,14 @@ +# generated from ament/cmake/core/templates/nameConfig-version.cmake.in +set(PACKAGE_VERSION "0.1.0") + +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/install/stretch_web_teleop/share/stretch_web_teleop/cmake/stretch_web_teleopConfig.cmake b/install/stretch_web_teleop/share/stretch_web_teleop/cmake/stretch_web_teleopConfig.cmake new file mode 100644 index 00000000..d447ad46 --- /dev/null +++ b/install/stretch_web_teleop/share/stretch_web_teleop/cmake/stretch_web_teleopConfig.cmake @@ -0,0 +1,42 @@ +# generated from ament/cmake/core/templates/nameConfig.cmake.in + +# prevent multiple inclusion +if(_stretch_web_teleop_CONFIG_INCLUDED) + # ensure to keep the found flag the same + if(NOT DEFINED stretch_web_teleop_FOUND) + # explicitly set it to FALSE, otherwise CMake will set it to TRUE + set(stretch_web_teleop_FOUND FALSE) + elseif(NOT stretch_web_teleop_FOUND) + # use separate condition to avoid uninitialized variable warning + set(stretch_web_teleop_FOUND FALSE) + endif() + return() +endif() +set(_stretch_web_teleop_CONFIG_INCLUDED TRUE) + +# output package information +if(NOT stretch_web_teleop_FIND_QUIETLY) + message(STATUS "Found stretch_web_teleop: 0.1.0 (${stretch_web_teleop_DIR})") +endif() + +# warn when using a deprecated package +if(NOT "" STREQUAL "") + set(_msg "Package 'stretch_web_teleop' is deprecated") + # append custom deprecation text if available + if(NOT "" STREQUAL "TRUE") + set(_msg "${_msg} ()") + endif() + # optionally quiet the deprecation message + if(NOT ${stretch_web_teleop_DEPRECATED_QUIET}) + message(DEPRECATION "${_msg}") + endif() +endif() + +# flag package as ament-based to distinguish it after being find_package()-ed +set(stretch_web_teleop_FOUND_AMENT_PACKAGE TRUE) + +# include all config extra files +set(_extras "") +foreach(_extra ${_extras}) + include("${stretch_web_teleop_DIR}/${_extra}") +endforeach() diff --git a/install/stretch_web_teleop/share/stretch_web_teleop/config/configure_video_streams_params.yaml b/install/stretch_web_teleop/share/stretch_web_teleop/config/configure_video_streams_params.yaml new file mode 100644 index 00000000..655ee328 --- /dev/null +++ b/install/stretch_web_teleop/share/stretch_web_teleop/config/configure_video_streams_params.yaml @@ -0,0 +1,92 @@ +{ + # Images published to /navigation_camera/image_raw + # Image size is 768 x 1024 + "overhead": { + "fixed": { + # The mask contain params to make a circular mask over the image + # Pass "mask": null to not create mask + "mask": { + "width": 768, + "height": 768, + "radius": null, + "center": null # Pass "center": {"x": __, "y": __} to define center + }, + # The crop contain params to crop the image + # x_max - x_min = mask_width and y_max - y_min = mask_height + # Pass "crop": null to not crop image + "crop": { + "x_min": 0, + "x_max": 768, + "y_min": 128, + "y_max": 896 + }, + # Number of degress to rotate video stream clockwise + # Pass "rotate": null to not rotate + "rotate": null, + }, + "wide_angle_cam": { + # The mask contain params to make a circular mask over the image + # Pass "mask": null to not create mask + "mask": null, + # The crop contain params to crop the image + # x_max - x_min = mask_width and y_max - y_min = mask_height + # Pass "crop": null to not crop image + "crop": null, + # Number of degress to rotate video stream clockwise + # Pass "rotate": null to not rotate + # "rotate": null, + "rotate": 'ROTATE_90_COUNTERCLOCKWISE' + } + }, + "realsense": { + "default": { + "mask": null, + "crop": null, + "rotate": 'ROTATE_90_CLOCKWISE' + } + }, + # Images published to /gripper_camera/image_raw + # Image size is 768 x 1024 + "gripper": { + "default": { + # The mask contain params to make a circular mask over the image + # Pass "mask": null to not create mask + "mask": { + "width": 768, + "height": 768, + "radius": null, + "center": null + }, + # The crop contain params to crop the image + # x_max - x_min = mask_width and y_max - y_min = mask_height + # Pass "crop": null to not crop image + "crop": { + "x_min": 0, + "x_max": 768, + "y_min": 128, + "y_max": 896 + }, + "rotate": null + }, + "d405": { + # The mask contain params to make a circular mask over the image + # Pass "mask": null to not create mask + "mask": { + "width": 270, + "height": 270, + "radius": null, + "center": null + }, + # The crop contain params to crop the image + # x_max - x_min = mask_width and y_max - y_min = mask_height + # Pass "crop": null to not crop image + "crop": { + "y_min": 125, + "y_max": 395, + "x_min": 0, + "x_max": 270 + }, + "rotate": null + }, + }, +} diff --git a/install/stretch_web_teleop/share/stretch_web_teleop/environment/ament_prefix_path.dsv b/install/stretch_web_teleop/share/stretch_web_teleop/environment/ament_prefix_path.dsv new file mode 100644 index 00000000..79d4c95b --- /dev/null +++ b/install/stretch_web_teleop/share/stretch_web_teleop/environment/ament_prefix_path.dsv @@ -0,0 +1 @@ +prepend-non-duplicate;AMENT_PREFIX_PATH; diff --git a/install/stretch_web_teleop/share/stretch_web_teleop/environment/ament_prefix_path.sh b/install/stretch_web_teleop/share/stretch_web_teleop/environment/ament_prefix_path.sh new file mode 100644 index 00000000..02e441b7 --- /dev/null +++ b/install/stretch_web_teleop/share/stretch_web_teleop/environment/ament_prefix_path.sh @@ -0,0 +1,4 @@ +# copied from +# ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh + +ament_prepend_unique_value AMENT_PREFIX_PATH "$AMENT_CURRENT_PREFIX" diff --git a/install/stretch_web_teleop/share/stretch_web_teleop/environment/path.dsv b/install/stretch_web_teleop/share/stretch_web_teleop/environment/path.dsv new file mode 100644 index 00000000..b94426af --- /dev/null +++ b/install/stretch_web_teleop/share/stretch_web_teleop/environment/path.dsv @@ -0,0 +1 @@ +prepend-non-duplicate-if-exists;PATH;bin diff --git a/install/stretch_web_teleop/share/stretch_web_teleop/environment/path.sh b/install/stretch_web_teleop/share/stretch_web_teleop/environment/path.sh new file mode 100644 index 00000000..e59b749a --- /dev/null +++ b/install/stretch_web_teleop/share/stretch_web_teleop/environment/path.sh @@ -0,0 +1,5 @@ +# copied from ament_cmake_core/cmake/environment_hooks/environment/path.sh + +if [ -d "$AMENT_CURRENT_PREFIX/bin" ]; then + ament_prepend_unique_value PATH "$AMENT_CURRENT_PREFIX/bin" +fi diff --git a/install/stretch_web_teleop/share/stretch_web_teleop/hook/cmake_prefix_path.dsv b/install/stretch_web_teleop/share/stretch_web_teleop/hook/cmake_prefix_path.dsv new file mode 100644 index 00000000..e119f32c --- /dev/null +++ b/install/stretch_web_teleop/share/stretch_web_teleop/hook/cmake_prefix_path.dsv @@ -0,0 +1 @@ +prepend-non-duplicate;CMAKE_PREFIX_PATH; diff --git a/install/stretch_web_teleop/share/stretch_web_teleop/hook/cmake_prefix_path.ps1 b/install/stretch_web_teleop/share/stretch_web_teleop/hook/cmake_prefix_path.ps1 new file mode 100644 index 00000000..d03facc1 --- /dev/null +++ b/install/stretch_web_teleop/share/stretch_web_teleop/hook/cmake_prefix_path.ps1 @@ -0,0 +1,3 @@ +# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em + +colcon_prepend_unique_value CMAKE_PREFIX_PATH "$env:COLCON_CURRENT_PREFIX" diff --git a/install/stretch_web_teleop/share/stretch_web_teleop/hook/cmake_prefix_path.sh b/install/stretch_web_teleop/share/stretch_web_teleop/hook/cmake_prefix_path.sh new file mode 100644 index 00000000..a948e685 --- /dev/null +++ b/install/stretch_web_teleop/share/stretch_web_teleop/hook/cmake_prefix_path.sh @@ -0,0 +1,3 @@ +# generated from colcon_core/shell/template/hook_prepend_value.sh.em + +_colcon_prepend_unique_value CMAKE_PREFIX_PATH "$COLCON_CURRENT_PREFIX" diff --git a/install/stretch_web_teleop/share/stretch_web_teleop/launch/gripper_camera.launch.py b/install/stretch_web_teleop/share/stretch_web_teleop/launch/gripper_camera.launch.py new file mode 100644 index 00000000..8db7a84a --- /dev/null +++ b/install/stretch_web_teleop/share/stretch_web_teleop/launch/gripper_camera.launch.py @@ -0,0 +1,37 @@ +import launch +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node + +def generate_launch_description(): + return LaunchDescription([ + Node( + package='usb_cam', + executable='usb_cam_node_exe', + name='gripper_camera', + output='screen', + parameters=[ + {'video_device': '/dev/hello-gripper-camera'}, + {'image_width': 1024}, + {'image_height': 768}, + {'framerate': 30.0}, + {'pixel_format': 'yuyv'}, + {'brightness': -40}, + {'contrast': 40}, + {'saturation': 60}, + {'hue': 0}, + {'sharpness': 100}, + {'autoexposure': True}, + {'exposure': 150}, + {'auto_white_balance': False}, + {'white_balance': 4250}, + {'gain': 80}, + {'camera_frame_id': 'gripper_camera'}, + {'camera_name': 'gripper_camera'}, + {'io_method': 'mmap'} + ], + remappings=[('/image_raw', '/gripper_camera/image_raw')] + ), + # You can add more nodes or configurations here if needed. + ]) \ No newline at end of file diff --git a/install/stretch_web_teleop/share/stretch_web_teleop/launch/multi_camera.launch.py b/install/stretch_web_teleop/share/stretch_web_teleop/launch/multi_camera.launch.py new file mode 100644 index 00000000..1870f1fd --- /dev/null +++ b/install/stretch_web_teleop/share/stretch_web_teleop/launch/multi_camera.launch.py @@ -0,0 +1,88 @@ +import os +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription, GroupAction +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.actions import DeclareLaunchArgument +from launch_ros.actions import SetRemap, Node + +json_path = os.path.join(get_package_share_directory('stretch_core'), 'config', 'HighAccuracyPreset.json') + +configurable_parameters = [{'name': 'camera_namespace1', 'default': '', 'description': 'namespace for camera'}, + {'name': 'camera_name1', 'default': 'camera', 'description': 'camera unique name'}, + {'name': 'device_type1', 'default': 'd435', 'description': 'camera unique name'}, + {'name': 'json_file_path1', 'default': json_path, 'description': 'allows advanced configuration'}, + {'name': 'depth_module.depth_profile1', 'default': '424x240x15', 'description': 'depth module profile'}, + {'name': 'enable_depth1', 'default': 'true', 'description': 'enable depth stream'}, + {'name': 'rgb_camera.color_profile1', 'default': '424x240x15', 'description': 'color image width'}, + {'name': 'enable_color1', 'default': 'true', 'description': 'enable color stream'}, + {'name': 'enable_infra11', 'default': 'true', 'description': 'enable infra1 stream'}, + {'name': 'enable_infra21', 'default': 'false', 'description': 'enable infra2 stream'}, + {'name': 'infra_rgb1', 'default': 'false', 'description': 'enable infra2 stream'}, + {'name': 'enable_confidence1', 'default': 'false', 'description': 'enable depth stream'}, + {'name': 'gyro_fps1', 'default': '200', 'description': "''"}, + {'name': 'accel_fps1', 'default': '100', 'description': "''"}, + {'name': 'enable_gyro1', 'default': 'true', 'description': "''"}, + {'name': 'enable_accel1', 'default': 'true', 'description': "''"}, + {'name': 'pointcloud.enable1', 'default': 'true', 'description': ''}, + {'name': 'pointcloud.stream_filter1', 'default': '2', 'description': 'texture stream for pointcloud'}, + {'name': 'pointcloud.stream_index_filter1','default': '0', 'description': 'texture stream index for pointcloud'}, + {'name': 'enable_sync1', 'default': 'true', 'description': "''"}, + {'name': 'align_depth.enable1', 'default': 'true', 'description': "''"}, + {'name': 'initial_reset1', 'default': 'true', 'description': "''"}, + {'name': 'allow_no_texture_points1', 'default': 'true', 'description': "''"}, + {'name': 'camera_namespace2', 'default': '', 'description': 'namespace for camera'}, + {'name': 'camera_name2', 'default': 'gripper_camera', 'description': 'camera unique name'}, + {'name': 'device_type2', 'default': 'd405', 'description': 'camera unique name'}, + {'name': 'json_file_path2', 'default': json_path, 'description': 'allows advanced configuration'}, + {'name': 'depth_module.depth_profile2', 'default': '480x270x15', 'description': 'depth module profile'}, + {'name': 'depth_module.enable_auto_exposure2', 'default': 'true', 'description': 'enable/disable auto exposure for depth image'}, + {'name': 'enable_depth2', 'default': 'true', 'description': 'enable depth stream'}, + {'name': 'rgb_camera.color_profile2', 'default': '424x240x15', 'description': 'color image width'}, + {'name': 'rgb_camera.enable_auto_exposure2', 'default': 'true', 'description': 'enable/disable auto exposure for color image'}, + {'name': 'enable_color2', 'default': 'true', 'description': 'enable color stream'}, + {'name': 'enable_infra12', 'default': 'false', 'description': 'enable infra1 stream'}, + {'name': 'enable_infra22', 'default': 'false', 'description': 'enable infra2 stream'}, + {'name': 'infra_rgb2', 'default': 'false', 'description': 'enable infra2 stream'}, + {'name': 'enable_confidence2', 'default': 'false', 'description': 'enable depth stream'}, + {'name': 'gyro_fps2', 'default': '200', 'description': "''"}, + {'name': 'accel_fps2', 'default': '100', 'description': "''"}, + {'name': 'enable_gyro2', 'default': 'true', 'description': "''"}, + {'name': 'enable_accel2', 'default': 'true', 'description': "''"}, + {'name': 'pointcloud.enable2', 'default': 'true', 'description': ''}, + {'name': 'pointcloud.stream_filter2', 'default': '2', 'description': 'texture stream for pointcloud'}, + {'name': 'pointcloud.stream_index_filter2','default': '0', 'description': 'texture stream index for pointcloud'}, + {'name': 'enable_sync2', 'default': 'true', 'description': "''"}, + {'name': 'align_depth.enable2', 'default': 'true', 'description': "''"}, + {'name': 'initial_reset2', 'default': 'false', 'description': "''"}, + {'name': 'allow_no_texture_points2', 'default': 'true', 'description': "''"}, + ] + +def declare_configurable_parameters(parameters): + return [DeclareLaunchArgument(param['name'], default_value=param['default'], description=param['description']) for param in parameters] + +def set_configurable_parameters(parameters): + return dict([(param['name'], LaunchConfiguration(param['name'])) for param in parameters]) + +def generate_launch_description(): + realsense_launch = GroupAction( + actions=[ + SetRemap(src='/gripper_camera/color/image_rect_raw', dst='/gripper_camera/image_raw'), + IncludeLaunchDescription( + PythonLaunchDescriptionSource([os.path.join( + get_package_share_directory('realsense2_camera'), 'launch'), + '/rs_multi_camera_launch.py']) + ) + ] + ) + + d435i_accel_correction = Node( + package='stretch_core', + executable='d435i_accel_correction', + output='screen', + ) + + return LaunchDescription(declare_configurable_parameters(configurable_parameters) + [ + realsense_launch, + d435i_accel_correction, + ]) diff --git a/install/stretch_web_teleop/share/stretch_web_teleop/launch/navigation_camera.launch.py b/install/stretch_web_teleop/share/stretch_web_teleop/launch/navigation_camera.launch.py new file mode 100644 index 00000000..665a5b0f --- /dev/null +++ b/install/stretch_web_teleop/share/stretch_web_teleop/launch/navigation_camera.launch.py @@ -0,0 +1,38 @@ +import launch +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node + +def generate_launch_description(): + return LaunchDescription([ + Node( + package='usb_cam', + executable='usb_cam_node_exe', + name='navigation_camera', + output='screen', + parameters=[ + {'video_device': '/dev/hello-navigation-camera'}, + {'image_width': 800}, + {'image_height': 600}, + {'framerate': 15.0}, + {'pixel_format': 'mjpeg2rgb'}, + {'brightness': 10}, + {'contrast': 30}, + {'hue': 0}, + {'saturation': 80}, + {'sharpness': 3}, + {'gamma': 80}, + {'exposure_auto': True}, + #{'exposure': 150}, + {'white_balance_temperature_auto': True}, + #{'white_balance': 4250}, + {'gain': 10}, + {'camera_frame_id': 'navigation_camera'}, + {'camera_name': 'navigation_camera'}, + {'io_method': 'mmap'} + ], + remappings=[('/image_raw', '/navigation_camera/image_raw')] + ), + # You can add more nodes or configurations here if needed. + ]) diff --git a/install/stretch_web_teleop/share/stretch_web_teleop/launch/web_interface.launch.py b/install/stretch_web_teleop/share/stretch_web_teleop/launch/web_interface.launch.py new file mode 100644 index 00000000..508fcd04 --- /dev/null +++ b/install/stretch_web_teleop/share/stretch_web_teleop/launch/web_interface.launch.py @@ -0,0 +1,314 @@ +import os +import fnmatch +import stretch_body.robot_params + +from ament_index_python import get_package_share_directory +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, GroupAction, ExecuteProcess +from launch.conditions import IfCondition, UnlessCondition, LaunchConfigurationNotEquals +from launch.launch_description_sources import PythonLaunchDescriptionSource, FrontendLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration, PathJoinSubstitution, FindExecutable, OrSubstitution, AndSubstitution, NotSubstitution +from launch.substitutions import ThisLaunchFileDir +from launch_ros.actions import Node +from ament_index_python.packages import get_package_share_path + + +def symlinks_to_has_beta_teleop_kit(): + usb_device_seen = { + 'hello-navigation-camera': False, + 'hello-gripper-camera': False, + } + + listOfFiles = os.listdir('/dev') + pattern = "hello*" + for entry in listOfFiles: + if fnmatch.fnmatch(entry, pattern): + usb_device_seen[entry] = True + + return all(usb_device_seen.values()) + + +def symlinks_to_has_nav_head_cam(): + usb_device_seen = { + 'hello-nav-head-camera': False, + } + + listOfFiles = os.listdir('/dev') + pattern = "hello*" + for entry in listOfFiles: + if fnmatch.fnmatch(entry, pattern): + usb_device_seen[entry] = True + + return all(usb_device_seen.values()) + + +def map_configuration_to_drivers(model, tool, has_beta_teleop_kit, has_nav_head_cam): + """This method maps configurations to drivers. I.e. it identifies the robot configuration + based on the variables provided and returns which drivers should be activated. If the + variables don't constitute a valid configuration, something is wrong with the hardware, + so the function raises an exception. + + Returns + ------- + Tuple + tuple with four elements: + which_realsense_drivers ('d435i-only' or 'both'), + add_gripper_driver (True or False), + add_navigation_driver (True or False), + add_head_nav_driver (True or False) + """ + # Stretch RE1 + if model == "RE1V0" and tool == "tool_stretch_gripper" and has_beta_teleop_kit == False and has_nav_head_cam == False: + return 'd435-only', False, False, False + elif model == "RE1V0" and tool == "tool_stretch_gripper" and has_beta_teleop_kit == True and has_nav_head_cam == False: + return 'd435-only', True, True, False + elif model == "RE1V0" and tool == "tool_stretch_dex_wrist" and has_beta_teleop_kit == False and has_nav_head_cam == False: + return 'd435-only', False, False, False + elif model == "RE1V0" and tool == "tool_stretch_dex_wrist" and has_beta_teleop_kit == True and has_nav_head_cam == False: + return 'd435-only', True, True, False + # Stretch 2 + elif model == "RE2V0" and tool == "tool_stretch_gripper" and has_beta_teleop_kit == False and has_nav_head_cam == False: + return 'd435-only', False, False, False + elif model == "RE2V0" and tool == "tool_stretch_gripper" and has_beta_teleop_kit == True and has_nav_head_cam == False: + return 'd435-only', True, True, False + elif model == "RE2V0" and tool == "tool_stretch_dex_wrist" and has_beta_teleop_kit == False and has_nav_head_cam == False: + return 'd435-only', False, False, False + elif model == "RE2V0" and tool == "tool_stretch_dex_wrist" and has_beta_teleop_kit == True and has_nav_head_cam == False: + return 'd435-only', True, True, False + # Stretch 2+ (upgraded Stretch 2) + elif model == "RE2V0" and tool == "eoa_wrist_dw3_tool_sg3" and has_beta_teleop_kit == False and has_nav_head_cam == True: + return 'both' , False, False, True + # Stretch 3 + elif model == "SE3" and tool == "eoa_wrist_dw3_tool_sg3" and has_beta_teleop_kit == False and has_nav_head_cam == True: + return 'both' , False, False, True + + raise ValueError(f'cannot find valid configuration for model={model}, tool={tool}, has_beta_teleop_kit={has_beta_teleop_kit}, has_nav_head_cam={has_nav_head_cam}') + +def generate_launch_description(): + teleop_interface_package = str(get_package_share_path('stretch_web_teleop')) + core_package = str(get_package_share_path('stretch_core')) + rosbridge_package = str(get_package_share_path('rosbridge_server')) + stretch_core_path = str(get_package_share_directory('stretch_core')) + stretch_navigation_path = str(get_package_share_directory('stretch_nav2')) + navigation_bringup_path = str(get_package_share_directory('nav2_bringup')) + + _, robot_params = stretch_body.robot_params.RobotParams().get_params() + stretch_serial_no = robot_params['robot']['serial_no'] + stretch_model = robot_params['robot']['model_name'] + stretch_tool = robot_params['robot']['tool'] + stretch_has_beta_teleop_kit = symlinks_to_has_beta_teleop_kit() + stretch_has_nav_head_cam = symlinks_to_has_nav_head_cam() + drivers_realsense, driver_gripper_cam, driver_navigation_cam, driver_nav_head_cam = map_configuration_to_drivers( + stretch_model, stretch_tool, stretch_has_beta_teleop_kit, stretch_has_nav_head_cam) + + # Declare launch arguments + params_file = DeclareLaunchArgument('params', default_value=[ + PathJoinSubstitution([teleop_interface_package, 'config', 'configure_video_streams_params.yaml'])]) + map_yaml = DeclareLaunchArgument('map_yaml', description='filepath to previously captured map', default_value='') + certfile_arg = DeclareLaunchArgument('certfile', default_value=stretch_serial_no + '+6.pem') + keyfile_arg = DeclareLaunchArgument('keyfile', default_value=stretch_serial_no + '+6-key.pem') + nav2_params_file_param = DeclareLaunchArgument( + 'nav2_params_file', + default_value=os.path.join(stretch_navigation_path, 'config', 'nav2_params.yaml'), + description='Full path to the ROS2 parameters file to use for all launched nodes') + dict_file_path = os.path.join(core_package, 'config', 'stretch_marker_dict.yaml') + depthimage_to_laserscan_config = os.path.join(core_package, 'config', 'depthimage_to_laser_scan_params.yaml') + + # Start collecting nodes to launch + ld = LaunchDescription([ + map_yaml, + nav2_params_file_param, + params_file, + certfile_arg, + keyfile_arg, + ]) + + if drivers_realsense == 'd435-only': + # Launch only D435i if there is no D405 + ld.add_action( + GroupAction( + actions=[ + IncludeLaunchDescription( + PythonLaunchDescriptionSource(PathJoinSubstitution([core_package, 'launch', 'd435i_low_resolution.launch.py'])) + ) + ] + ) + ) + elif drivers_realsense == 'both': + # Launch both D435i and D405 + ld.add_action( + GroupAction( + actions=[ + IncludeLaunchDescription( + PythonLaunchDescriptionSource(PathJoinSubstitution([teleop_interface_package, 'launch', 'multi_camera.launch.py'])) + ) + ] + ) + ) + + if driver_navigation_cam == True: + # Beta Teleop Kit Navigation Camera + ld.add_action( + GroupAction( + actions=[ + IncludeLaunchDescription( + PythonLaunchDescriptionSource(PathJoinSubstitution([core_package, 'launch', 'beta_navigation_camera.launch.py'])) + ) + ] + ) + ) + + if driver_nav_head_cam == True: + # Nav Head Wide Angle Camera + ld.add_action( + GroupAction( + actions=[ + IncludeLaunchDescription( + PythonLaunchDescriptionSource(PathJoinSubstitution([core_package, 'launch', 'navigation_camera.launch.py'])) + ) + ] + ) + ) + + if driver_gripper_cam == True: + # Beta Teleop Kit Gripper Camera + ld.add_action( + GroupAction( + actions=[ + IncludeLaunchDescription( + PythonLaunchDescriptionSource(PathJoinSubstitution([core_package, 'launch', 'beta_gripper_camera.launch.py'])) + ) + ] + ) + ) + + if driver_navigation_cam == False and driver_nav_head_cam == False: + # Blank Navigation Camera Node + # Publish blank image if no navigation camera exists + ld.add_action( + Node( + package='image_publisher', + executable='image_publisher_node', + name='navigation_camera_node', + output='screen', + parameters=[{'publish_rate': 15.0}], + remappings=[('image_raw', '/navigation_camera/image_raw')], + arguments=[PathJoinSubstitution([teleop_interface_package, 'nodes', 'blank_image.png'])], + ) + ) + + if drivers_realsense == 'd435-only' and driver_gripper_cam == False: + # Blank Gripper Camera Node + # Publish blank image if there is no gripper camera exists + ld.add_action( + Node( + package='image_publisher', + executable='image_publisher_node', + name='gripper_camera_node', + output='screen', + parameters=[{'publish_rate': 15.0}], + remappings=[('image_raw', '/gripper_camera/color/image_rect_raw')], + arguments=[PathJoinSubstitution([teleop_interface_package, 'nodes', 'blank_image.png'])], + ) + ) + + tf2_web_republisher_node = Node( + package='tf2_web_republisher_py', + executable='tf2_web_republisher', + name='tf2_web_republisher_node' + ) + ld.add_action(tf2_web_republisher_node) + + # Stretch Driver + stretch_driver_launch = IncludeLaunchDescription( + PythonLaunchDescriptionSource(PathJoinSubstitution([core_package, 'launch', 'stretch_driver.launch.py'])), + launch_arguments={'broadcast_odom_tf': 'True'}.items()) + ld.add_action(stretch_driver_launch) + + # Rosbridge Websocket + rosbridge_launch = IncludeLaunchDescription( + FrontendLaunchDescriptionSource(PathJoinSubstitution([rosbridge_package, 'launch', 'rosbridge_websocket_launch.xml'])), + launch_arguments={ + 'port': '9090', + 'address': 'localhost', + 'ssl': 'true', + 'certfile': PathJoinSubstitution([teleop_interface_package, 'certificates', LaunchConfiguration('certfile')]), + 'keyfile': PathJoinSubstitution([teleop_interface_package, 'certificates', LaunchConfiguration('keyfile')]), + 'authenticate': 'false' + }.items() + ) + ld.add_action(rosbridge_launch) + + # Configure Video Streams + configure_video_streams_node = Node( + package='stretch_web_teleop', + executable='configure_video_streams.py', + output='screen', + arguments=[LaunchConfiguration('params'), str(stretch_has_beta_teleop_kit)], + parameters=[{'has_beta_teleop_kit': stretch_has_beta_teleop_kit}] + ) + ld.add_action(configure_video_streams_node) + + rplidar_launch = IncludeLaunchDescription( + PythonLaunchDescriptionSource([stretch_core_path, '/launch/rplidar.launch.py'])) + ld.add_action(rplidar_launch) + + navigation_bringup_launch = GroupAction( + condition=LaunchConfigurationNotEquals('map_yaml', ''), + actions=[ + IncludeLaunchDescription( + PythonLaunchDescriptionSource([stretch_navigation_path, '/launch/bringup_launch.py']), + launch_arguments={'use_sim_time': 'false', + 'autostart': 'true', + 'map': PathJoinSubstitution([teleop_interface_package, 'maps', LaunchConfiguration('map_yaml')]), + 'params_file': LaunchConfiguration('nav2_params_file'), + 'use_rviz': 'false'}.items()) + ] + ) + ld.add_action(navigation_bringup_launch) + + ld.add_action( + ExecuteProcess( + cmd=[ + [ + FindExecutable(name="ros2"), + " service call ", + "/reinitialize_global_localization ", + "std_srvs/srv/Empty ", + "\"{}\"", + ] + ], + shell=True, + ), + ) + + ld.add_action( + ExecuteProcess( + cmd=[ + [ + FindExecutable(name="ros2"), + " param set ", + "/rosbridge_websocket ", + "std_msgs/msg/Bool ", + "true", + ] + ], + shell=True, + ) + ) + + ld.add_action( + ExecuteProcess( + cmd=[ + [ + FindExecutable(name="ros2"), + " param set ", + "/gripper_camera ", + "depth_module.enable_auto_exposure ", + "true", + ] + ], + shell=True, + ) + ) + return ld diff --git a/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.bash b/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.bash new file mode 100644 index 00000000..49782f24 --- /dev/null +++ b/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.bash @@ -0,0 +1,46 @@ +# generated from ament_package/template/package_level/local_setup.bash.in + +# source local_setup.sh from same directory as this file +_this_path=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" && pwd) +# provide AMENT_CURRENT_PREFIX to shell script +AMENT_CURRENT_PREFIX=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." && pwd) +# store AMENT_CURRENT_PREFIX to restore it before each environment hook +_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX + +# trace output +if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then + echo "# . \"$_this_path/local_setup.sh\"" +fi +. "$_this_path/local_setup.sh" +unset _this_path + +# unset AMENT_ENVIRONMENT_HOOKS +# if not appending to them for return +if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then + unset AMENT_ENVIRONMENT_HOOKS +fi + +# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks +AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX +# list all environment hooks of this package + +# source all shell-specific environment hooks of this package +# if not returning them +if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then + _package_local_setup_IFS=$IFS + IFS=":" + for _hook in $AMENT_ENVIRONMENT_HOOKS; do + # restore AMENT_CURRENT_PREFIX for each environment hook + AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX + # restore IFS before sourcing other files + IFS=$_package_local_setup_IFS + . "$_hook" + done + unset _hook + IFS=$_package_local_setup_IFS + unset _package_local_setup_IFS + unset AMENT_ENVIRONMENT_HOOKS +fi + +unset _package_local_setup_AMENT_CURRENT_PREFIX +unset AMENT_CURRENT_PREFIX diff --git a/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.dsv b/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.dsv new file mode 100644 index 00000000..02a2a239 --- /dev/null +++ b/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.dsv @@ -0,0 +1,2 @@ +source;share/stretch_web_teleop/environment/ament_prefix_path.sh +source;share/stretch_web_teleop/environment/path.sh diff --git a/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.sh b/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.sh new file mode 100644 index 00000000..f16c25b8 --- /dev/null +++ b/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.sh @@ -0,0 +1,184 @@ +# generated from ament_package/template/package_level/local_setup.sh.in + +# since this file is sourced use either the provided AMENT_CURRENT_PREFIX +# or fall back to the destination set at configure time +: ${AMENT_CURRENT_PREFIX:="/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop"} +if [ ! -d "$AMENT_CURRENT_PREFIX" ]; then + if [ -z "$COLCON_CURRENT_PREFIX" ]; then + echo "The compile time prefix path '$AMENT_CURRENT_PREFIX' doesn't " \ + "exist. Consider sourcing a different extension than '.sh'." 1>&2 + else + AMENT_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX" + fi +fi + +# function to append values to environment variables +# using colons as separators and avoiding leading separators +ament_append_value() { + # arguments + _listname="$1" + _value="$2" + #echo "listname $_listname" + #eval echo "list value \$$_listname" + #echo "value $_value" + + # avoid leading separator + eval _values=\"\$$_listname\" + if [ -z "$_values" ]; then + eval export $_listname=\"$_value\" + #eval echo "set list \$$_listname" + else + # field separator must not be a colon + _ament_append_value_IFS=$IFS + unset IFS + eval export $_listname=\"\$$_listname:$_value\" + #eval echo "append list \$$_listname" + IFS=$_ament_append_value_IFS + unset _ament_append_value_IFS + fi + unset _values + + unset _value + unset _listname +} + +# function to append non-duplicate values to environment variables +# using colons as separators and avoiding leading separators +ament_append_unique_value() { + # arguments + _listname=$1 + _value=$2 + #echo "listname $_listname" + #eval echo "list value \$$_listname" + #echo "value $_value" + + # check if the list contains the value + eval _values=\$$_listname + _duplicate= + _ament_append_unique_value_IFS=$IFS + IFS=":" + if [ "$AMENT_SHELL" = "zsh" ]; then + ament_zsh_to_array _values + fi + for _item in $_values; do + # ignore empty strings + if [ -z "$_item" ]; then + continue + fi + if [ $_item = $_value ]; then + _duplicate=1 + fi + done + unset _item + + # append only non-duplicates + if [ -z "$_duplicate" ]; then + # avoid leading separator + if [ -z "$_values" ]; then + eval $_listname=\"$_value\" + #eval echo "set list \$$_listname" + else + # field separator must not be a colon + unset IFS + eval $_listname=\"\$$_listname:$_value\" + #eval echo "append list \$$_listname" + fi + fi + IFS=$_ament_append_unique_value_IFS + unset _ament_append_unique_value_IFS + unset _duplicate + unset _values + + unset _value + unset _listname +} + +# function to prepend non-duplicate values to environment variables +# using colons as separators and avoiding trailing separators +ament_prepend_unique_value() { + # arguments + _listname="$1" + _value="$2" + #echo "listname $_listname" + #eval echo "list value \$$_listname" + #echo "value $_value" + + # check if the list contains the value + eval _values=\"\$$_listname\" + _duplicate= + _ament_prepend_unique_value_IFS=$IFS + IFS=":" + if [ "$AMENT_SHELL" = "zsh" ]; then + ament_zsh_to_array _values + fi + for _item in $_values; do + # ignore empty strings + if [ -z "$_item" ]; then + continue + fi + if [ "$_item" = "$_value" ]; then + _duplicate=1 + fi + done + unset _item + + # prepend only non-duplicates + if [ -z "$_duplicate" ]; then + # avoid trailing separator + if [ -z "$_values" ]; then + eval export $_listname=\"$_value\" + #eval echo "set list \$$_listname" + else + # field separator must not be a colon + unset IFS + eval export $_listname=\"$_value:\$$_listname\" + #eval echo "prepend list \$$_listname" + fi + fi + IFS=$_ament_prepend_unique_value_IFS + unset _ament_prepend_unique_value_IFS + unset _duplicate + unset _values + + unset _value + unset _listname +} + +# unset AMENT_ENVIRONMENT_HOOKS +# if not appending to them for return +if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then + unset AMENT_ENVIRONMENT_HOOKS +fi + +# list all environment hooks of this package +ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/stretch_web_teleop/environment/ament_prefix_path.sh" +ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/stretch_web_teleop/environment/path.sh" + +# source all shell-specific environment hooks of this package +# if not returning them +if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then + _package_local_setup_IFS=$IFS + IFS=":" + if [ "$AMENT_SHELL" = "zsh" ]; then + ament_zsh_to_array AMENT_ENVIRONMENT_HOOKS + fi + for _hook in $AMENT_ENVIRONMENT_HOOKS; do + if [ -f "$_hook" ]; then + # restore IFS before sourcing other files + IFS=$_package_local_setup_IFS + # trace output + if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then + echo "# . \"$_hook\"" + fi + . "$_hook" + fi + done + unset _hook + IFS=$_package_local_setup_IFS + unset _package_local_setup_IFS + unset AMENT_ENVIRONMENT_HOOKS +fi + +# reset AMENT_CURRENT_PREFIX after each package +# allowing to source multiple package-level setup files +unset AMENT_CURRENT_PREFIX diff --git a/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.zsh b/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.zsh new file mode 100644 index 00000000..fe161be5 --- /dev/null +++ b/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.zsh @@ -0,0 +1,59 @@ +# generated from ament_package/template/package_level/local_setup.zsh.in + +AMENT_SHELL=zsh + +# source local_setup.sh from same directory as this file +_this_path=$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd) +# provide AMENT_CURRENT_PREFIX to shell script +AMENT_CURRENT_PREFIX=$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd) +# store AMENT_CURRENT_PREFIX to restore it before each environment hook +_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX + +# function to convert array-like strings into arrays +# to wordaround SH_WORD_SPLIT not being set +ament_zsh_to_array() { + local _listname=$1 + local _dollar="$" + local _split="{=" + local _to_array="(\"$_dollar$_split$_listname}\")" + eval $_listname=$_to_array +} + +# trace output +if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then + echo "# . \"$_this_path/local_setup.sh\"" +fi +# the package-level local_setup file unsets AMENT_CURRENT_PREFIX +. "$_this_path/local_setup.sh" +unset _this_path + +# unset AMENT_ENVIRONMENT_HOOKS +# if not appending to them for return +if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then + unset AMENT_ENVIRONMENT_HOOKS +fi + +# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks +AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX +# list all environment hooks of this package + +# source all shell-specific environment hooks of this package +# if not returning them +if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then + _package_local_setup_IFS=$IFS + IFS=":" + for _hook in $AMENT_ENVIRONMENT_HOOKS; do + # restore AMENT_CURRENT_PREFIX for each environment hook + AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX + # restore IFS before sourcing other files + IFS=$_package_local_setup_IFS + . 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Get filtered points in camera frame + # pc_in_camera = ros2_numpy.point_cloud2.pointcloud2_to_xyz_array(msg) # N x 3 + pts_in_range = self.pcl_cloud_filtered.to_array()[filtered_indices, :] + pts_in_range = np.hstack((pts_in_range, np.ones((pts_in_range.shape[0],1)))) + + # Get pixel coordinates + coords = np.matmul(self.P, np.transpose(pts_in_range)) # 3 x N + x_idx = np.absolute((coords[0,:]/coords[2,:]).astype(int)) + y_idx = np.absolute((coords[1,:]/coords[2,:]).astype(int)) + # negative_indices = np.where((x_idx < 0) or (y_idx < 0)) + + # Change color of pixels in robot's reach + if img is not None: + img[x_idx, img.shape[1] - 1 - y_idx, :] = [255, 191, 0, 50] + # img[y_idx, x_idx, 3] = 0 + + return img + + def depth_ar_callback(self, req, res): + self.depth_ar = req.data + res.success = True + return res + + def crop_image(self, image, params): + if params["x_min"] is None: raise ValueError("Crop x_min is not defined!") + if params["x_max"] is None: raise ValueError("Crop x_max is not defined!") + if params["y_min"] is None: raise ValueError("Crop y_min is not defined!") + if params["y_max"] is None: raise ValueError("Crop y_max is not defined!") + + x_min = params["x_min"] + x_max = params["x_max"] + y_min = params["y_min"] + y_max = params["y_max"] + + return image[x_min:x_max, y_min:y_max] + + # https://stackoverflow.com/questions/44865023/how-can-i-create-a-circular-mask-for-a-numpy-array + def create_circular_mask(self, h, w, center=None, radius=None): + if center is None: # use the middle of the image + center = (int(w/2), int(h/2)) + if radius is None: # use the smallest distance between the center and image walls + radius = min(center[0], center[1], w-center[0], h-center[1]) + + Y, X = np.ogrid[:h, :w] + dist_from_center = np.sqrt((X - center[0])**2 + (Y-center[1])**2) + + mask = dist_from_center <= radius + return mask + + def mask_image(self, image, params): + if params["width"] is None: raise ValueError("Mask width is not defined!") + if params["height"] is None: raise ValueError("Mask height is not defined!") + + w = params["width"] + h = params["height"] + center = (params["center"]["x"], params["center"]["y"]) if params["center"] else None + radius = params["radius"] + + mask = self.create_circular_mask(h, w, center, radius) + img = image.copy() + img[~mask] = 200 + return img + + def rotate_image(self, image, value): + if value == 'ROTATE_90_CLOCKWISE': + return cv2.rotate(image, cv2.ROTATE_90_CLOCKWISE) + elif value == "ROTATE_180": + return cv2.rotate(image, cv2.ROTATE_180) + elif value == "ROTATE_90_COUNTERCLOCKWISE": + return cv2.rotate(image, cv2.ROTATE_90_COUNTERCLOCKWISE) + else: + raise ValueError("Invalid rotate image value: options are ROTATE_90_CLOCKWISE, ROTATE_180, or ROTATE_90_COUNTERCLOCKWISE") + + def configure_images(self, rgb_image, params): + # if rgb_image.shape[-1] == 2: + # rgb_image = cv2.cvtColor(rgb_image, cv2.COLOR_YUV2RGB_YVYU) + # else: + + rgb_image = cv2.cvtColor(rgb_image, cv2.COLOR_BGR2RGB) + if params: + if params['crop']: + rgb_image = self.crop_image(rgb_image, params['crop']) + if params['mask']: + rgb_image = self.mask_image(rgb_image, params['mask']) + if params['rotate']: + rgb_image = self.rotate_image(rgb_image, params['rotate']) + return rgb_image + + def realsense_cb(self, ros_image, pc): + image = self.cv_bridge.imgmsg_to_cv2(ros_image) + for image_config_name in self.realsense_params: + img = self.configure_images(image, self.realsense_params[image_config_name]) + img = cv2.cvtColor(img, cv2.COLOR_RGB2RGBA) + if self.depth_ar: img = self.pc_callback(pc, img) + # if self.aruco_markers: img = self.aruco_markers_callback(marker_msg, img) + self.realsense_images[image_config_name] = img + + self.realsense_rgb_image = self.realsense_images[self.realsense_camera_perspective] + self.publish_compressed_msg(self.realsense_rgb_image, self.publisher_realsense_cmp) + + def gripper_camera_cb(self, ros_image): + image = self.cv_bridge.imgmsg_to_cv2(ros_image, 'rgb8') + img = self.rotate_image_around_center(image, -1*self.roll_value) + self.gripper_camera_rgb_image = self.configure_images(img, self.gripper_params[self.gripper_camera_perspective]) + self.publish_compressed_msg(self.gripper_camera_rgb_image, self.publisher_gripper_cmp) + + def navigation_camera_cb(self, ros_image): + image = self.cv_bridge.imgmsg_to_cv2(ros_image, 'rgb8') + self.overhead_camera_rgb_image = self.configure_images(image, self.overhead_params[self.overhead_camera_perspective]) + self.publish_compressed_msg(self.overhead_camera_rgb_image, self.publisher_overhead_cmp) + + def rotate_image_around_center(self, image, angle): + image_center = tuple(np.array(image.shape[1::-1]) / 2) + rot_mat = cv2.getRotationMatrix2D(image_center, math.degrees(angle), 1.0) + result = cv2.warpAffine(image, rot_mat, image.shape[1::-1], flags=cv2.INTER_LINEAR) + return result + + def joint_state_cb(self, joint_state): + if 'joint_wrist_roll' in joint_state.name: + roll_index = joint_state.name.index('joint_wrist_roll') + self.roll_value = joint_state.position[roll_index] + + def publish_compressed_msg(self, image, publisher): + msg = CompressedImage() + msg.header.stamp = self.get_clock().now().to_msg() + msg.format = "jpeg" + msg.data = np.array(cv2.imencode('.jpg', image)[1]).tobytes() + publisher.publish(msg) + +if __name__ == '__main__': + rclpy.init() + print(sys.argv) + node = ConfigureVideoStreams(sys.argv[1], sys.argv[2] == "True") + print("Publishing reconfigured video stream") + rclpy.spin(node) diff --git a/install/stretch_web_teleop/share/stretch_web_teleop/nodes/gripper_camera.py b/install/stretch_web_teleop/share/stretch_web_teleop/nodes/gripper_camera.py new file mode 100644 index 00000000..9c7d4091 --- /dev/null +++ b/install/stretch_web_teleop/share/stretch_web_teleop/nodes/gripper_camera.py @@ -0,0 +1,130 @@ +#! /usr/bin/env python3 + + +# my_image_publisher/my_image_publisher/publisher_node.py + +import cv2 +from sensor_msgs.msg import Image +from cv_bridge import CvBridge +import rclpy +from rclpy.node import Node +import threading +from rclpy.executors import MultiThreadedExecutor +import os + +UVC_COLOR_SIZE = [1024, 768] # [3840,2880] [1920, 1080] [1280, 720] [1280, 800] [640, 480] +UVC_FPS = 100 + +UVC_VIDEO_INDEX = '/dev/hello-gripper-camera' +UVC_VIDEO_FORMAT = 'MJPG' # MJPG YUYV + +UVC_BRIGHTNESS = -40 # brightness 0x00980900 (int) : min=-64 max=64 step=1 default=0 value=0 +UVC_CONTRAST = 40 # contrast 0x00980901 (int) : min=0 max=64 step=1 default=32 value=32 +UVC_SATURATION = 60 # saturation 0x00980902 (int) : min=0 max=128 step=1 default=90 value=90 +UVC_HUE = 0 # hue 0x00980903 (int) : min=-40 max=40 step=1 default=0 value=0 +UVC_GAMMA = 80 # gamma 0x00980910 (int) : min=72 max=500 step=1 default=100 value=100 +UVC_GAIN = 80 # gain 0x00980913 (int) : min=0 max=100 step=1 default=0 value=0 +UVC_WB_TEMP = 4250 # white_balance_temperature 0x0098091a (int) : min=2800 max=6500 step=1 default=4600 value=4600 flags=inactive +UVC_SHARPNESS = 100 # sharpness 0x0098091b (int) : min=0 max=6 step=1 default=3 value=3 +UVC_BACKLIT_COMP = 1 # backlight_compensation 0x0098091c (int) : min=0 max=2 step=1 default=1 value=1 +UVC_EXPOSURE_TIME = 157 # exposure_time_absolute 0x009a0902 (int) : min=1 max=5000 step=1 default=157 value=157 flags=inactive + +# More UVC Video capture properties here: +# https://docs.opencv.org/3.4/d4/d15/group__videoio__flags__base.html +# +# Arducam wiki info site +# https://docs.arducam.com/UVC-Camera/Appilcation-Note/OpenCV-Python-GStreamer-on-linux/ +# +# Setting Video formates using v4l2 +# http://trac.gateworks.com/wiki/linux/v4l2 +# +# + + +def setup_uvc_camera(device_index, size, fps): + cap = cv2.VideoCapture(device_index) + cap.set(cv2.CAP_PROP_FRAME_WIDTH, size[0]) + cap.set(cv2.CAP_PROP_FRAME_HEIGHT, size[1]) + cap.set(cv2.CAP_PROP_FPS, fps) + return cap + + + +UVC_SETTINGS = {'brightness':UVC_BRIGHTNESS, + 'contrast':UVC_CONTRAST, + 'hue':UVC_HUE, + 'gamma':UVC_GAMMA, + 'gain':UVC_GAIN, + 'white_balance_temperature':UVC_WB_TEMP, + 'sharpness':UVC_SHARPNESS, + 'backlight_compensation':UVC_BACKLIT_COMP, + 'exposure_time_absolute':UVC_EXPOSURE_TIME} + +# Set video format and size +cmd = f"v4l2-ctl --device {UVC_VIDEO_INDEX} --set-fmt-video=width={UVC_COLOR_SIZE[0]},height={UVC_COLOR_SIZE[1]}" +os.system(cmd) + +# Set UVC SettingsNone +for k in list(UVC_SETTINGS.keys()): + cmd = f"v4l2-ctl --device {UVC_VIDEO_INDEX} --set-ctrl={k}={UVC_SETTINGS[k]}" + os.system(cmd) + +class GripperImagePublisherNode(Node): + def __init__(self): + super().__init__('image_publisher_node') + self.publisher = self.create_publisher(Image, '/gripper_camera/color/image_rect_raw', 15) + timer_period = 0.001 # seconds + self.timer = self.create_timer(timer_period, self.timer_callback) + self.timer2 = self.create_timer(timer_period, self.timer_callback2) + self.cv_bridge = CvBridge() + self.uvc_camera = setup_uvc_camera(UVC_VIDEO_INDEX, UVC_COLOR_SIZE, UVC_FPS) + self.image_msg = None + # self.uvc_camera_thread = threading.Thread(target=self.stream_camera) + # self.uvc_camera_thread.start() + + # def stream_camera(self): + # print("Starting Image Stream") + # while True: + # # Capture an image using OpenCV + # try: + # ret, image_uvc = self.uvc_camera.read() + # # Convert the OpenCV image to a ROS Image message + # self.image_msg = self.cv_bridge.cv2_to_imgmsg(image_uvc, encoding='bgr8') + # print("Updated") + # except Exception as e: + # print(f"Error UVC Cam: {e}") + + def timer_callback(self): + # Publish the image message + if self.image_msg is not None: + # print("Published") + self.publisher.publish(self.image_msg) + + def timer_callback2(self): + try: + ret, image_uvc = self.uvc_camera.read() + # Convert the OpenCV image to a ROS Image message + self.image_msg = self.cv_bridge.cv2_to_imgmsg(image_uvc, encoding='bgr8') + # print("Updated") + except Exception as e: + print(f"Error UVC Cam: {e}") + + + +def main(args=None): + rclpy.init(args=args) + + image_publisher_node = GripperImagePublisherNode() + + executor = MultiThreadedExecutor() + executor.add_node(image_publisher_node) + try: + rclpy.spin(image_publisher_node, executor) + except KeyboardInterrupt: + pass + finally: + image_publisher_node.destroy_node() + rclpy.shutdown() + +if __name__ == '__main__': + main() diff --git a/install/stretch_web_teleop/share/stretch_web_teleop/nodes/navigation_camera.py b/install/stretch_web_teleop/share/stretch_web_teleop/nodes/navigation_camera.py new file mode 100644 index 00000000..2db441c7 --- /dev/null +++ b/install/stretch_web_teleop/share/stretch_web_teleop/nodes/navigation_camera.py @@ -0,0 +1,133 @@ +#! /usr/bin/env python3 + + +# my_image_publisher/my_image_publisher/publisher_node.py + +import cv2 +from sensor_msgs.msg import Image +from cv_bridge import CvBridge +import rclpy +from rclpy.node import Node +import threading +from rclpy.executors import MultiThreadedExecutor +import os + +UVC_COLOR_SIZE = [1280, 800] # [3840,2880] [1920, 1080] [1280, 720] [1280, 800] [640, 480] +UVC_FPS = 100 + +UVC_VIDEO_INDEX = '/dev/hello-nav-head-camera' +UVC_VIDEO_FORMAT = 'MJPG' # MJPG YUYV + +UVC_BRIGHTNESS = 10 # brightness 0x00980900 (int) : min=-64 max=64 step=1 default=0 value=0 +UVC_CONTRAST = 30 # contrast 0x00980901 (int) : min=0 max=64 step=1 default=32 value=32 +UVC_SATURATION = 80 # saturation 0x00980902 (int) : min=0 max=128 step=1 default=90 value=90 +UVC_HUE = 0 # hue 0x00980903 (int) : min=-40 max=40 step=1 default=0 value=0 +UVC_GAMMA = 80 # gamma 0x00980910 (int) : min=72 max=500 step=1 default=100 value=100 +UVC_GAIN = 10 # gain 0x00980913 (int) : min=0 max=100 step=1 default=0 value=0 +UVC_WB_TEMP = 4600 # white_balance_temperature 0x0098091a (int) : min=2800 max=6500 step=1 default=4600 value=4600 flags=inactive +UVC_SHARPNESS = 3 # sharpness 0x0098091b (int) : min=0 max=6 step=1 default=3 value=3 +UVC_BACKLIT_COMP = 1 # backlight_compensation 0x0098091c (int) : min=0 max=2 step=1 default=1 value=1 +UVC_EXPOSURE_TIME = 157 # exposure_time_absolute 0x009a0902 (int) : min=1 max=5000 step=1 default=157 value=157 flags=inactive + +# More UVC Video capture properties here: +# https://docs.opencv.org/3.4/d4/d15/group__videoio__flags__base.html +# +# Arducam wiki info site +# https://docs.arducam.com/UVC-Camera/Appilcation-Note/OpenCV-Python-GStreamer-on-linux/ +# +# Setting Video formates using v4l2 +# http://trac.gateworks.com/wiki/linux/v4l2 +# +# + + +def setup_uvc_camera(device_index, size, fps): + cap = cv2.VideoCapture(device_index) + cap.set(cv2.CAP_PROP_FRAME_WIDTH, size[0]) + cap.set(cv2.CAP_PROP_FRAME_HEIGHT, size[1]) + cap.set(cv2.CAP_PROP_FPS, fps) + return cap + + + +UVC_SETTINGS = {'brightness':UVC_BRIGHTNESS, + 'contrast':UVC_CONTRAST, + 'hue':UVC_HUE, + 'gamma':UVC_GAMMA, + 'gain':UVC_GAIN, + 'white_balance_temperature':UVC_WB_TEMP, + 'sharpness':UVC_SHARPNESS, + 'backlight_compensation':UVC_BACKLIT_COMP, + 'exposure_time_absolute':UVC_EXPOSURE_TIME} + +# Set video format and size +cmd = f"v4l2-ctl --device {UVC_VIDEO_INDEX} --set-fmt-video=width={UVC_COLOR_SIZE[0]},height={UVC_COLOR_SIZE[1]}" +os.system(cmd) + +# Set UVC SettingsNone +for k in list(UVC_SETTINGS.keys()): + cmd = f"v4l2-ctl --device {UVC_VIDEO_INDEX} --set-ctrl={k}={UVC_SETTINGS[k]}" + os.system(cmd) + + + + +class ImagePublisherNode(Node): + def __init__(self): + super().__init__('image_publisher_node') + self.publisher = self.create_publisher(Image, '/navigation_camera/image_raw', 15) + timer_period = 0.001 # seconds + self.timer = self.create_timer(timer_period, self.timer_callback) + self.timer2 = self.create_timer(timer_period, self.timer_callback2) + self.cv_bridge = CvBridge() + self.uvc_camera = setup_uvc_camera(UVC_VIDEO_INDEX, UVC_COLOR_SIZE, UVC_FPS) + self.image_msg = None + # self.uvc_camera_thread = threading.Thread(target=self.stream_camera) + # self.uvc_camera_thread.start() + + # def stream_camera(self): + # print("Starting Image Stream") + # while True: + # # Capture an image using OpenCV + # try: + # ret, image_uvc = self.uvc_camera.read() + # # Convert the OpenCV image to a ROS Image message + # self.image_msg = self.cv_bridge.cv2_to_imgmsg(image_uvc, encoding='bgr8') + # print("Updated") + # except Exception as e: + # print(f"Error UVC Cam: {e}") + + def timer_callback(self): + # Publish the image message + if self.image_msg is not None: + # print("Published") + self.publisher.publish(self.image_msg) + + def timer_callback2(self): + try: + ret, image_uvc = self.uvc_camera.read() + # Convert the OpenCV image to a ROS Image message + self.image_msg = self.cv_bridge.cv2_to_imgmsg(image_uvc, encoding='bgr8') + # print("Updated") + except Exception as e: + print(f"Error UVC Cam: {e}") + + + +def main(args=None): + rclpy.init(args=args) + + image_publisher_node = ImagePublisherNode() + + executor = MultiThreadedExecutor() + executor.add_node(image_publisher_node) + try: + rclpy.spin(image_publisher_node, executor) + except KeyboardInterrupt: + pass + finally: + image_publisher_node.destroy_node() + rclpy.shutdown() + +if __name__ == '__main__': + main() diff --git a/install/stretch_web_teleop/share/stretch_web_teleop/nodes/old_navigation_camera.py b/install/stretch_web_teleop/share/stretch_web_teleop/nodes/old_navigation_camera.py new file mode 100644 index 00000000..37c5427d --- /dev/null +++ b/install/stretch_web_teleop/share/stretch_web_teleop/nodes/old_navigation_camera.py @@ -0,0 +1,103 @@ +#! /usr/bin/env python3 + +import cv2 +from sensor_msgs.msg import Image +from cv_bridge import CvBridge +import rclpy +from rclpy.node import Node +import threading +from rclpy.executors import MultiThreadedExecutor +import os + +UVC_COLOR_SIZE = [1024, 768] # [3840,2880] [1920, 1080] [1280, 720] [1280, 800] [640, 480] +UVC_FPS = 100 + +UVC_VIDEO_INDEX = '/dev/hello-navigation-camera' +UVC_VIDEO_FORMAT = 'MJPG' # MJPG YUYV + +UVC_BRIGHTNESS = 10 # brightness 0x00980900 (int) : min=-64 max=64 step=1 default=0 value=0 +UVC_CONTRAST = 30 # contrast 0x00980901 (int) : min=0 max=64 step=1 default=32 value=32 +UVC_SATURATION = 80 # saturation 0x00980902 (int) : min=0 max=128 step=1 default=90 value=90 +UVC_HUE = 0 # hue 0x00980903 (int) : min=-40 max=40 step=1 default=0 value=0 +UVC_GAMMA = 80 # gamma 0x00980910 (int) : min=72 max=500 step=1 default=100 value=100 +UVC_GAIN = 10 # gain 0x00980913 (int) : min=0 max=100 step=1 default=0 value=0 +UVC_WB_TEMP = 4600 # white_balance_temperature 0x0098091a (int) : min=2800 max=6500 step=1 default=4600 value=4600 flags=inactive +UVC_SHARPNESS = 3 # sharpness 0x0098091b (int) : min=0 max=6 step=1 default=3 value=3 +UVC_BACKLIT_COMP = 1 # backlight_compensation 0x0098091c (int) : min=0 max=2 step=1 default=1 value=1 +UVC_EXPOSURE_TIME = 150 # exposure_time_absolute 0x009a0902 (int) : min=1 max=5000 step=1 default=157 value=157 flags=inactive + +# More UVC Video capture properties here: +# https://docs.opencv.org/3.4/d4/d15/group__videoio__flags__base.html +# +# Arducam wiki info site +# https://docs.arducam.com/UVC-Camera/Appilcation-Note/OpenCV-Python-GStreamer-on-linux/ +# +# Setting Video formates using v4l2 +# http://trac.gateworks.com/wiki/linux/v4l2 +def setup_uvc_camera(device_index, size, fps): + cap = cv2.VideoCapture(device_index) + cap.set(cv2.CAP_PROP_FRAME_WIDTH, size[0]) + cap.set(cv2.CAP_PROP_FRAME_HEIGHT, size[1]) + cap.set(cv2.CAP_PROP_FPS, fps) + return cap + +UVC_SETTINGS = {'brightness':UVC_BRIGHTNESS, + 'contrast':UVC_CONTRAST, + 'hue':UVC_HUE, + 'gamma':UVC_GAMMA, + 'gain':UVC_GAIN, + 'white_balance_temperature':UVC_WB_TEMP, + 'sharpness':UVC_SHARPNESS, + 'backlight_compensation':UVC_BACKLIT_COMP, + 'exposure_time_absolute':UVC_EXPOSURE_TIME} + +# Set video format and size +cmd = f"v4l2-ctl --device {UVC_VIDEO_INDEX} --set-fmt-video=width={UVC_COLOR_SIZE[0]},height={UVC_COLOR_SIZE[1]}" +os.system(cmd) + +# Set UVC SettingsNone +for k in list(UVC_SETTINGS.keys()): + cmd = f"v4l2-ctl --device {UVC_VIDEO_INDEX} --set-ctrl={k}={UVC_SETTINGS[k]}" + os.system(cmd) + +class ImagePublisherNode(Node): + def __init__(self): + super().__init__('image_publisher_node') + self.publisher = self.create_publisher(Image, '/navigation_camera/image_raw', 15) + timer_period = 0.001 # seconds + self.timer = self.create_timer(timer_period, self.timer_callback) + self.timer2 = self.create_timer(timer_period, self.timer_callback2) + self.cv_bridge = CvBridge() + self.uvc_camera = setup_uvc_camera(UVC_VIDEO_INDEX, UVC_COLOR_SIZE, UVC_FPS) + self.image_msg = None + + def timer_callback(self): + # Publish the image message + if self.image_msg is not None: + self.publisher.publish(self.image_msg) + + def timer_callback2(self): + try: + ret, image_uvc = self.uvc_camera.read() + # Convert the OpenCV image to a ROS Image message + self.image_msg = self.cv_bridge.cv2_to_imgmsg(image_uvc, encoding='bgr8') + except Exception as e: + print(f"Error UVC Cam: {e}") + +def main(args=None): + rclpy.init(args=args) + + image_publisher_node = ImagePublisherNode() + + executor = MultiThreadedExecutor() + executor.add_node(image_publisher_node) + try: + rclpy.spin(image_publisher_node, executor) + except KeyboardInterrupt: + pass + finally: + image_publisher_node.destroy_node() + rclpy.shutdown() + +if __name__ == '__main__': + main() diff --git a/install/stretch_web_teleop/share/stretch_web_teleop/package.bash b/install/stretch_web_teleop/share/stretch_web_teleop/package.bash new file mode 100644 index 00000000..cdacbcaf --- /dev/null +++ b/install/stretch_web_teleop/share/stretch_web_teleop/package.bash @@ -0,0 +1,39 @@ +# generated from colcon_bash/shell/template/package.bash.em + +# This script extends the environment for this package. + +# a bash script is able to determine its own path if necessary +if [ -z "$COLCON_CURRENT_PREFIX" ]; then + # the prefix is two levels up from the package specific share directory + _colcon_package_bash_COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." > /dev/null && pwd)" +else + _colcon_package_bash_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX" +fi + +# function to source another script with conditional trace output +# first argument: the path of the script +# additional arguments: arguments to the script +_colcon_package_bash_source_script() { + if [ -f "$1" ]; then + if [ -n "$COLCON_TRACE" ]; then + echo "# . \"$1\"" + fi + . "$@" + else + echo "not found: \"$1\"" 1>&2 + fi +} + +# source sh script of this package +_colcon_package_bash_source_script "$_colcon_package_bash_COLCON_CURRENT_PREFIX/share/stretch_web_teleop/package.sh" + +# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced scripts +COLCON_CURRENT_PREFIX="$_colcon_package_bash_COLCON_CURRENT_PREFIX" + +# source bash hooks +_colcon_package_bash_source_script "$COLCON_CURRENT_PREFIX/share/stretch_web_teleop/local_setup.bash" + +unset COLCON_CURRENT_PREFIX + +unset _colcon_package_bash_source_script +unset _colcon_package_bash_COLCON_CURRENT_PREFIX diff --git a/install/stretch_web_teleop/share/stretch_web_teleop/package.dsv b/install/stretch_web_teleop/share/stretch_web_teleop/package.dsv new file mode 100644 index 00000000..04e291d3 --- /dev/null +++ b/install/stretch_web_teleop/share/stretch_web_teleop/package.dsv @@ -0,0 +1,8 @@ +source;share/stretch_web_teleop/hook/cmake_prefix_path.ps1 +source;share/stretch_web_teleop/hook/cmake_prefix_path.dsv +source;share/stretch_web_teleop/hook/cmake_prefix_path.sh +source;share/stretch_web_teleop/local_setup.bash +source;share/stretch_web_teleop/local_setup.dsv +source;share/stretch_web_teleop/local_setup.ps1 +source;share/stretch_web_teleop/local_setup.sh +source;share/stretch_web_teleop/local_setup.zsh diff --git a/install/stretch_web_teleop/share/stretch_web_teleop/package.ps1 b/install/stretch_web_teleop/share/stretch_web_teleop/package.ps1 new file mode 100644 index 00000000..6f4a0893 --- /dev/null +++ b/install/stretch_web_teleop/share/stretch_web_teleop/package.ps1 @@ -0,0 +1,116 @@ +# generated from colcon_powershell/shell/template/package.ps1.em + +# function to append a value to a variable +# which uses colons as separators +# duplicates as well as leading separators are avoided +# first argument: the name of the result variable +# second argument: the value to be prepended +function colcon_append_unique_value { + param ( + $_listname, + $_value + ) + + # get values from variable + if (Test-Path Env:$_listname) { + $_values=(Get-Item env:$_listname).Value + } else { + $_values="" + } + $_duplicate="" + # start with no values + $_all_values="" + # iterate over existing values in the variable + if ($_values) { + $_values.Split(";") | ForEach { + # not an empty string + if ($_) { + # not a duplicate of _value + if ($_ -eq $_value) { + $_duplicate="1" + } + if ($_all_values) { + $_all_values="${_all_values};$_" + } else { + $_all_values="$_" + } + } + } + } + # append only non-duplicates + if (!$_duplicate) { + # avoid leading separator + if ($_all_values) { + $_all_values="${_all_values};${_value}" + } else { + $_all_values="${_value}" + } + } + + # export the updated variable + Set-Item env:\$_listname -Value "$_all_values" +} + +# 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 +function colcon_prepend_unique_value { + param ( + $_listname, + $_value + ) + + # get values from variable + if (Test-Path Env:$_listname) { + $_values=(Get-Item env:$_listname).Value + } else { + $_values="" + } + # start with the new value + $_all_values="$_value" + # iterate over existing values in the variable + if ($_values) { + $_values.Split(";") | ForEach { + # not an empty string + if ($_) { + # not a duplicate of _value + if ($_ -ne $_value) { + # keep non-duplicate values + $_all_values="${_all_values};$_" + } + } + } + } + # export the updated variable + Set-Item env:\$_listname -Value "$_all_values" +} + +# function to source another script with conditional trace output +# first argument: the path of the script +# additional arguments: arguments to the script +function colcon_package_source_powershell_script { + param ( + $_colcon_package_source_powershell_script + ) + # source script with conditional trace output + if (Test-Path $_colcon_package_source_powershell_script) { + if ($env:COLCON_TRACE) { + echo ". '$_colcon_package_source_powershell_script'" + } + . "$_colcon_package_source_powershell_script" + } else { + Write-Error "not found: '$_colcon_package_source_powershell_script'" + } +} + + +# a powershell script is able to determine its own path +# the prefix is two levels up from the package specific share directory +$env:COLCON_CURRENT_PREFIX=(Get-Item $PSCommandPath).Directory.Parent.Parent.FullName + +colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/stretch_web_teleop/hook/cmake_prefix_path.ps1" +colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/stretch_web_teleop/local_setup.ps1" + +Remove-Item Env:\COLCON_CURRENT_PREFIX diff --git a/install/stretch_web_teleop/share/stretch_web_teleop/package.sh b/install/stretch_web_teleop/share/stretch_web_teleop/package.sh new file mode 100644 index 00000000..a8d57aab --- /dev/null +++ b/install/stretch_web_teleop/share/stretch_web_teleop/package.sh @@ -0,0 +1,87 @@ +# generated from colcon_core/shell/template/package.sh.em + +# This script extends the environment for this package. + +# 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_prepend_unique_value() { + # arguments + _listname="$1" + _value="$2" + + # get values from variable + eval _values=\"\$$_listname\" + # backup the field separator + _colcon_prepend_unique_value_IFS=$IFS + IFS=":" + # start with the new value + _all_values="$_value" + # workaround SH_WORD_SPLIT not being set in zsh + if [ "$(command -v colcon_zsh_convert_to_array)" ]; then + colcon_zsh_convert_to_array _values + fi + # 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_prepend_unique_value_IFS + unset _colcon_prepend_unique_value_IFS + # export the updated variable + eval export $_listname=\"$_all_values\" + unset _all_values + unset _values + + unset _value + unset _listname +} + +# 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_package_sh_COLCON_CURRENT_PREFIX="/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop" +if [ -z "$COLCON_CURRENT_PREFIX" ]; then + if [ ! -d "$_colcon_package_sh_COLCON_CURRENT_PREFIX" ]; then + echo "The build time path \"$_colcon_package_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2 + unset _colcon_package_sh_COLCON_CURRENT_PREFIX + return 1 + fi + COLCON_CURRENT_PREFIX="$_colcon_package_sh_COLCON_CURRENT_PREFIX" +fi +unset _colcon_package_sh_COLCON_CURRENT_PREFIX + +# function to source another script with conditional trace output +# first argument: the path of the script +# additional arguments: arguments to the script +_colcon_package_sh_source_script() { + if [ -f "$1" ]; then + if [ -n "$COLCON_TRACE" ]; then + echo "# . \"$1\"" + fi + . "$@" + else + echo "not found: \"$1\"" 1>&2 + fi +} + +# source sh hooks +_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/stretch_web_teleop/hook/cmake_prefix_path.sh" +_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/stretch_web_teleop/local_setup.sh" + +unset _colcon_package_sh_source_script +unset COLCON_CURRENT_PREFIX + +# do not unset _colcon_prepend_unique_value since it might be used by non-primary shell hooks diff --git a/install/stretch_web_teleop/share/stretch_web_teleop/package.xml b/install/stretch_web_teleop/share/stretch_web_teleop/package.xml new file mode 100644 index 00000000..4bfa81de --- /dev/null +++ b/install/stretch_web_teleop/share/stretch_web_teleop/package.xml @@ -0,0 +1,27 @@ + + + stretch_web_teleop + 0.1.0 + The stretch web teleop package + + Hello Robot Inc. + + TODO + + https://github.com/hello-robot/stretch_ros2 + + ament_cmake + rosbridge_server + imu_filter_madgwick + usb_cam + + tf2_sensor_msgs + cv_bridge + compressed_image_transport + pcl_ros + image_publisher + + + ament_cmake + + diff --git a/install/stretch_web_teleop/share/stretch_web_teleop/package.zsh b/install/stretch_web_teleop/share/stretch_web_teleop/package.zsh new file mode 100644 index 00000000..ed7056f2 --- /dev/null +++ b/install/stretch_web_teleop/share/stretch_web_teleop/package.zsh @@ -0,0 +1,50 @@ +# generated from colcon_zsh/shell/template/package.zsh.em + +# This script extends the environment for this package. + +# a zsh script is able to determine its own path if necessary +if [ -z "$COLCON_CURRENT_PREFIX" ]; then + # the prefix is two levels up from the package specific share directory + _colcon_package_zsh_COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd)" +else + _colcon_package_zsh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX" +fi + +# function to source another script with conditional trace output +# first argument: the path of the script +# additional arguments: arguments to the script +_colcon_package_zsh_source_script() { + if [ -f "$1" ]; then + if [ -n "$COLCON_TRACE" ]; then + echo "# . \"$1\"" + fi + . "$@" + else + echo "not found: \"$1\"" 1>&2 + fi +} + +# function to convert array-like strings into arrays +# to workaround SH_WORD_SPLIT not being set +colcon_zsh_convert_to_array() { + local _listname=$1 + local _dollar="$" + local _split="{=" + local _to_array="(\"$_dollar$_split$_listname}\")" + eval $_listname=$_to_array +} + +# source sh script of this package +_colcon_package_zsh_source_script "$_colcon_package_zsh_COLCON_CURRENT_PREFIX/share/stretch_web_teleop/package.sh" +unset convert_zsh_to_array + +# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced scripts +COLCON_CURRENT_PREFIX="$_colcon_package_zsh_COLCON_CURRENT_PREFIX" + +# source zsh hooks +_colcon_package_zsh_source_script "$COLCON_CURRENT_PREFIX/share/stretch_web_teleop/local_setup.zsh" + +unset COLCON_CURRENT_PREFIX + +unset _colcon_package_zsh_source_script +unset _colcon_package_zsh_COLCON_CURRENT_PREFIX diff --git a/launch/multi_camera.launch.py b/launch/multi_camera.launch.py index 6dd09b11..f9e722dc 100644 --- a/launch/multi_camera.launch.py +++ b/launch/multi_camera.launch.py @@ -38,8 +38,8 @@ {'name': 'depth_module.depth_profile2', 'default': '480x270x15', 'description': 'depth module profile'}, {'name': 'depth_module.enable_auto_exposure2', 'default': 'true', 'description': 'enable/disable auto exposure for depth image'}, {'name': 'enable_depth2', 'default': 'true', 'description': 'enable depth stream'}, - {'name': 'rgb_camera.camera_profile2', 'default': '424x240x15', 'description': 'color image width'}, - {'name': 'rgb_camera.enable_auto_exposure2', 'default': 'true', 'description': 'enable/disable auto exposure for color image'}, + {'name': 'depth_module.color_profile2', 'default': '424x240x15', 'description': 'color image width'}, + {'name': 'depth_module.enable_auto_exposure2', 'default': 'true', 'description': 'enable/disable auto exposure for color image'}, {'name': 'enable_color2', 'default': 'true', 'description': 'enable color stream'}, {'name': 'enable_infra12', 'default': 'false', 'description': 'enable infra1 stream'}, {'name': 'enable_infra22', 'default': 'false', 'description': 'enable infra2 stream'}, diff --git a/log/COLCON_IGNORE b/log/COLCON_IGNORE new file mode 100644 index 00000000..e69de29b diff --git a/log/build_2024-04-29_21-21-16/events.log b/log/build_2024-04-29_21-21-16/events.log new file mode 100644 index 00000000..c24877d5 --- /dev/null +++ b/log/build_2024-04-29_21-21-16/events.log @@ -0,0 +1,78 @@ +[0.000000] (-) TimerEvent: {} +[0.000136] (stretch_web_teleop) JobQueued: {'identifier': 'stretch_web_teleop', 'dependencies': OrderedDict()} +[0.000175] (stretch_web_teleop) JobStarted: {'identifier': 'stretch_web_teleop'} +[0.006201] (stretch_web_teleop) JobProgress: {'identifier': 'stretch_web_teleop', 'progress': 'cmake'} +[0.006242] (stretch_web_teleop) Command: {'cmd': ['/usr/bin/cmake', '/home/hello-robot/ament_ws/src/stretch_web_teleop', '-DCMAKE_INSTALL_PREFIX=/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop'], 'cwd': '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop', 'env': OrderedDict([('HELLO_FLEET_ID', 'stretch-se3-3031'), ('LESSOPEN', '| /usr/bin/lesspipe %s'), ('PYTHONWARNINGS', 'ignore:setup.py install is deprecated,ignore:Invalid dash-separated options,ignore:pkg_resources is deprecated as an API,ignore:Usage of dash-separated'), ('USER', 'hello-robot'), ('XDG_SESSION_TYPE', 'x11'), ('HELLO_FLEET_PATH', '/home/hello-robot/stretch_user'), ('SHLVL', '1'), ('LD_LIBRARY_PATH', '/home/hello-robot/ament_ws/install/tf2_web_republisher/lib:/home/hello-robot/ament_ws/install/speech_recognition_msgs/lib:/home/hello-robot/ament_ws/install/sound_play_msgs/lib:/home/hello-robot/ament_ws/install/rosbridge_test_msgs/lib:/home/hello-robot/ament_ws/install/rosbridge_msgs/lib:/home/hello-robot/ament_ws/install/rosapi_msgs/lib:/home/hello-robot/ament_ws/install/realsense2_camera/lib:/home/hello-robot/ament_ws/install/realsense2_camera_msgs/lib:/home/hello-robot/ament_ws/install/audio_play/lib:/home/hello-robot/ament_ws/install/audio_capture/lib:/home/hello-robot/ament_ws/install/audio_common_msgs/lib:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib'), ('HOME', '/home/hello-robot'), ('OLDPWD', '/home/hello-robot/ament_ws'), ('DESKTOP_SESSION', 'ubuntu'), ('ROS_PYTHON_VERSION', '3'), ('GNOME_SHELL_SESSION_MODE', 'ubuntu'), ('GTK_MODULES', 'gail:atk-bridge'), ('SYSTEMD_EXEC_PID', '2243'), ('DBUS_SESSION_BUS_ADDRESS', 'unix:path=/run/user/1000/bus'), ('COLORTERM', 'truecolor'), ('_colcon_cd_root', '/home/hello-robot'), ('COLCON_PREFIX_PATH', '/home/hello-robot/ament_ws/install'), ('ROS_DISTRO', 'humble'), ('GTK_IM_MODULE', 'ibus'), ('LOGNAME', 'hello-robot'), ('_', '/usr/bin/colcon'), ('ROS_VERSION', '2'), ('XDG_SESSION_CLASS', 'user'), ('USERNAME', 'hello-robot'), ('TERM', 'xterm-256color'), ('GNOME_DESKTOP_SESSION_ID', 'this-is-deprecated'), ('ROS_LOCALHOST_ONLY', '0'), ('WINDOWPATH', '2'), ('PATH', '/home/hello-robot/ament_ws/install/audio_play/bin:/home/hello-robot/ament_ws/install/audio_capture/bin:/opt/ros/humble/bin:/home/hello-robot/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/snap/bin:/home/hello-robot/.local/bin'), ('SESSION_MANAGER', 'local/stretch-se3-3031:@/tmp/.ICE-unix/2219,unix/stretch-se3-3031:/tmp/.ICE-unix/2219'), ('XDG_MENU_PREFIX', 'gnome-'), ('GNOME_TERMINAL_SCREEN', '/org/gnome/Terminal/screen/6c436525_4ed9_4c42_ad01_1841cce5a788'), ('XDG_RUNTIME_DIR', '/run/user/1000'), ('DISPLAY', ':0'), ('LANG', 'en_US.UTF-8'), ('XDG_CURRENT_DESKTOP', 'ubuntu:GNOME'), ('XMODIFIERS', '@im=ibus'), ('XDG_SESSION_DESKTOP', 'ubuntu'), ('XAUTHORITY', '/run/user/1000/gdm/Xauthority'), ('LS_COLORS', 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.webp=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:'), ('GNOME_TERMINAL_SERVICE', ':1.92'), ('SSH_AGENT_LAUNCHER', 'gnome-keyring'), ('SSH_AUTH_SOCK', '/run/user/1000/keyring/ssh'), ('ROS_DOMAIN_ID', '22'), ('AMENT_PREFIX_PATH', 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{'line': b'-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/ament_index/resource_index/package_run_dependencies/stretch_web_teleop\n'} +[0.575540] (stretch_web_teleop) StdoutLine: {'line': b'-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/ament_index/resource_index/parent_prefix_path/stretch_web_teleop\n'} +[0.575615] (stretch_web_teleop) StdoutLine: {'line': b'-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/environment/ament_prefix_path.sh\n'} +[0.575690] (stretch_web_teleop) StdoutLine: {'line': b'-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/environment/ament_prefix_path.dsv\n'} +[0.575771] (stretch_web_teleop) StdoutLine: {'line': b'-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/environment/path.sh\n'} +[0.575851] (stretch_web_teleop) StdoutLine: {'line': b'-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/environment/path.dsv\n'} +[0.575928] (stretch_web_teleop) StdoutLine: {'line': b'-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.bash\n'} +[0.576009] (stretch_web_teleop) StdoutLine: {'line': b'-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.sh\n'} +[0.576082] (stretch_web_teleop) StdoutLine: {'line': b'-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.zsh\n'} +[0.576162] (stretch_web_teleop) StdoutLine: {'line': b'-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.dsv\n'} +[0.576235] (stretch_web_teleop) StdoutLine: {'line': b'-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.dsv\n'} +[0.576296] (stretch_web_teleop) StdoutLine: {'line': b'-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/ament_index/resource_index/packages/stretch_web_teleop\n'} +[0.576357] (stretch_web_teleop) StdoutLine: {'line': b'-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/cmake/stretch_web_teleopConfig.cmake\n'} +[0.576416] (stretch_web_teleop) StdoutLine: {'line': b'-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/cmake/stretch_web_teleopConfig-version.cmake\n'} +[0.576477] (stretch_web_teleop) StdoutLine: {'line': b'-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.xml\n'} +[0.577413] (stretch_web_teleop) CommandEnded: {'returncode': 0} +[0.600792] (-) TimerEvent: {} +[0.603803] (stretch_web_teleop) JobEnded: {'identifier': 'stretch_web_teleop', 'rc': 0} +[0.604207] (-) EventReactorShutdown: {} diff --git a/log/build_2024-04-29_21-21-16/logger_all.log b/log/build_2024-04-29_21-21-16/logger_all.log new file mode 100644 index 00000000..e3027f2a --- /dev/null +++ b/log/build_2024-04-29_21-21-16/logger_all.log @@ -0,0 +1,106 @@ +[0.084s] DEBUG:colcon:Command line arguments: ['/usr/bin/colcon', 'build'] +[0.084s] 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=16, 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, mixin_files=None, mixin=None, verb_parser=, verb_extension=, main=>, mixin_verb=('build',)) +[0.215s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) check parameters +[0.215s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) check parameters +[0.215s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) check parameters +[0.215s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) check parameters +[0.215s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) discover +[0.215s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) discover +[0.215s] INFO:colcon.colcon_core.package_discovery:Crawling recursively for packages in '/home/hello-robot/ament_ws/src/stretch_web_teleop' +[0.215s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ignore', 'ignore_ament_install'] +[0.216s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore' +[0.216s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore_ament_install' +[0.216s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_pkg'] +[0.216s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_pkg' +[0.216s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_meta'] +[0.216s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_meta' +[0.216s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ros'] +[0.216s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ros' +[0.224s] DEBUG:colcon.colcon_core.package_identification:Package '.' with type 'ros.ament_cmake' and name 'stretch_web_teleop' +[0.224s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) using defaults +[0.224s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) discover +[0.224s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) using defaults +[0.224s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) discover +[0.224s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) using defaults +[0.235s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) check parameters +[0.235s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) discover +[0.237s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 33 installed packages in /home/hello-robot/ament_ws/install +[0.238s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 387 installed packages in /opt/ros/humble +[0.239s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) using defaults +[0.264s] Level 5:colcon.colcon_core.verb:set package 'stretch_web_teleop' build argument 'cmake_args' from command line to 'None' +[0.264s] Level 5:colcon.colcon_core.verb:set package 'stretch_web_teleop' build argument 'cmake_target' from command line to 'None' +[0.264s] Level 5:colcon.colcon_core.verb:set package 'stretch_web_teleop' build argument 'cmake_target_skip_unavailable' from command line to 'False' +[0.264s] Level 5:colcon.colcon_core.verb:set package 'stretch_web_teleop' build argument 'cmake_clean_cache' from command line to 'False' +[0.264s] Level 5:colcon.colcon_core.verb:set package 'stretch_web_teleop' build argument 'cmake_clean_first' from command line to 'False' +[0.264s] Level 5:colcon.colcon_core.verb:set package 'stretch_web_teleop' build argument 'cmake_force_configure' from command line to 'False' +[0.264s] Level 5:colcon.colcon_core.verb:set package 'stretch_web_teleop' build argument 'ament_cmake_args' from command line to 'None' +[0.264s] Level 5:colcon.colcon_core.verb:set package 'stretch_web_teleop' build argument 'catkin_cmake_args' from command line to 'None' +[0.264s] Level 5:colcon.colcon_core.verb:set package 'stretch_web_teleop' build argument 'catkin_skip_building_tests' from command line to 'False' +[0.264s] DEBUG:colcon.colcon_core.verb:Building package 'stretch_web_teleop' with the following arguments: {'ament_cmake_args': None, 'build_base': '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop', 'catkin_cmake_args': None, 'catkin_skip_building_tests': False, 'cmake_args': None, 'cmake_clean_cache': False, 'cmake_clean_first': False, 'cmake_force_configure': False, 'cmake_target': None, 'cmake_target_skip_unavailable': False, 'install_base': '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop', 'merge_install': False, 'path': '/home/hello-robot/ament_ws/src/stretch_web_teleop', 'symlink_install': False, 'test_result_base': None} +[0.264s] INFO:colcon.colcon_core.executor:Executing jobs using 'parallel' executor +[0.264s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete +[0.265s] INFO:colcon.colcon_ros.task.ament_cmake.build:Building ROS package in '/home/hello-robot/ament_ws/src/stretch_web_teleop' with build type 'ament_cmake' +[0.265s] INFO:colcon.colcon_cmake.task.cmake.build:Building CMake package in '/home/hello-robot/ament_ws/src/stretch_web_teleop' +[0.266s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_core.shell.bat': Not used on non-Windows systems +[0.266s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell +[0.266s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment +[0.272s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/hello-robot/ament_ws/install/tf2_web_republisher_py:/home/hello-robot/ament_ws/install/stretch_ros_tutorials:/home/hello-robot/ament_ws/install/stretch_funmap:/home/hello-robot/ament_ws/install/stretch_calibration:/home/hello-robot/ament_ws/install/stretch_demos:/home/hello-robot/ament_ws/install/stretch_deep_perception:/home/hello-robot/ament_ws/install/stretch_core:/home/hello-robot/ament_ws/install/respeaker_ros2:/home/hello-robot/ament_ws/install/hello_helpers:/opt/ros/humble /usr/bin/cmake /home/hello-robot/ament_ws/src/stretch_web_teleop -DCMAKE_INSTALL_PREFIX=/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop +[0.782s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/hello-robot/ament_ws/install/tf2_web_republisher_py:/home/hello-robot/ament_ws/install/stretch_ros_tutorials:/home/hello-robot/ament_ws/install/stretch_funmap:/home/hello-robot/ament_ws/install/stretch_calibration:/home/hello-robot/ament_ws/install/stretch_demos:/home/hello-robot/ament_ws/install/stretch_deep_perception:/home/hello-robot/ament_ws/install/stretch_core:/home/hello-robot/ament_ws/install/respeaker_ros2:/home/hello-robot/ament_ws/install/hello_helpers:/opt/ros/humble /usr/bin/cmake /home/hello-robot/ament_ws/src/stretch_web_teleop -DCMAKE_INSTALL_PREFIX=/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop +[0.782s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/hello-robot/ament_ws/install/tf2_web_republisher_py:/home/hello-robot/ament_ws/install/stretch_ros_tutorials:/home/hello-robot/ament_ws/install/stretch_funmap:/home/hello-robot/ament_ws/install/stretch_calibration:/home/hello-robot/ament_ws/install/stretch_demos:/home/hello-robot/ament_ws/install/stretch_deep_perception:/home/hello-robot/ament_ws/install/stretch_core:/home/hello-robot/ament_ws/install/respeaker_ros2:/home/hello-robot/ament_ws/install/hello_helpers:/opt/ros/humble /usr/bin/cmake --build /home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop -- -j16 -l16 +[0.811s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/hello-robot/ament_ws/install/tf2_web_republisher_py:/home/hello-robot/ament_ws/install/stretch_ros_tutorials:/home/hello-robot/ament_ws/install/stretch_funmap:/home/hello-robot/ament_ws/install/stretch_calibration:/home/hello-robot/ament_ws/install/stretch_demos:/home/hello-robot/ament_ws/install/stretch_deep_perception:/home/hello-robot/ament_ws/install/stretch_core:/home/hello-robot/ament_ws/install/respeaker_ros2:/home/hello-robot/ament_ws/install/hello_helpers:/opt/ros/humble /usr/bin/cmake --build /home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop -- -j16 -l16 +[0.834s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/hello-robot/ament_ws/install/tf2_web_republisher_py:/home/hello-robot/ament_ws/install/stretch_ros_tutorials:/home/hello-robot/ament_ws/install/stretch_funmap:/home/hello-robot/ament_ws/install/stretch_calibration:/home/hello-robot/ament_ws/install/stretch_demos:/home/hello-robot/ament_ws/install/stretch_deep_perception:/home/hello-robot/ament_ws/install/stretch_core:/home/hello-robot/ament_ws/install/respeaker_ros2:/home/hello-robot/ament_ws/install/hello_helpers:/opt/ros/humble /usr/bin/cmake --install /home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop +[0.842s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(stretch_web_teleop) +[0.843s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/hello-robot/ament_ws/install/tf2_web_republisher_py:/home/hello-robot/ament_ws/install/stretch_ros_tutorials:/home/hello-robot/ament_ws/install/stretch_funmap:/home/hello-robot/ament_ws/install/stretch_calibration:/home/hello-robot/ament_ws/install/stretch_demos:/home/hello-robot/ament_ws/install/stretch_deep_perception:/home/hello-robot/ament_ws/install/stretch_core:/home/hello-robot/ament_ws/install/respeaker_ros2:/home/hello-robot/ament_ws/install/hello_helpers:/opt/ros/humble /usr/bin/cmake --install /home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop +[0.844s] Level 1:colcon.colcon_core.environment:checking '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop' for CMake module files +[0.844s] Level 1:colcon.colcon_core.environment:checking '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop' for CMake config files +[0.845s] Level 1:colcon.colcon_core.shell:create_environment_hook('stretch_web_teleop', 'cmake_prefix_path') +[0.845s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/hook/cmake_prefix_path.ps1' +[0.845s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/hook/cmake_prefix_path.dsv' +[0.845s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/hook/cmake_prefix_path.sh' +[0.846s] Level 1:colcon.colcon_core.environment:checking '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/lib' +[0.846s] Level 1:colcon.colcon_core.environment:checking '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/bin' +[0.846s] Level 1:colcon.colcon_core.environment:checking '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/lib/pkgconfig/stretch_web_teleop.pc' +[0.846s] Level 1:colcon.colcon_core.environment:checking '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/lib/python3.10/site-packages' +[0.847s] Level 1:colcon.colcon_core.environment:checking '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/bin' +[0.847s] INFO:colcon.colcon_core.shell:Creating package script '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.ps1' +[0.847s] INFO:colcon.colcon_core.shell:Creating package descriptor '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.dsv' +[0.847s] INFO:colcon.colcon_core.shell:Creating package script '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.sh' +[0.848s] INFO:colcon.colcon_core.shell:Creating package script '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.bash' +[0.848s] INFO:colcon.colcon_core.shell:Creating package script '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.zsh' +[0.848s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/colcon-core/packages/stretch_web_teleop) +[0.864s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(stretch_web_teleop) +[0.864s] Level 1:colcon.colcon_core.environment:checking '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop' for CMake module files +[0.865s] Level 1:colcon.colcon_core.environment:checking '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop' for CMake config files +[0.865s] Level 1:colcon.colcon_core.shell:create_environment_hook('stretch_web_teleop', 'cmake_prefix_path') +[0.865s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/hook/cmake_prefix_path.ps1' +[0.865s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/hook/cmake_prefix_path.dsv' +[0.866s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/hook/cmake_prefix_path.sh' +[0.867s] Level 1:colcon.colcon_core.environment:checking '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/lib' +[0.867s] Level 1:colcon.colcon_core.environment:checking '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/bin' +[0.867s] Level 1:colcon.colcon_core.environment:checking '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/lib/pkgconfig/stretch_web_teleop.pc' +[0.867s] Level 1:colcon.colcon_core.environment:checking '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/lib/python3.10/site-packages' +[0.867s] Level 1:colcon.colcon_core.environment:checking '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/bin' +[0.867s] INFO:colcon.colcon_core.shell:Creating package script '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.ps1' +[0.868s] INFO:colcon.colcon_core.shell:Creating package descriptor '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.dsv' +[0.868s] INFO:colcon.colcon_core.shell:Creating package script '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.sh' +[0.868s] INFO:colcon.colcon_core.shell:Creating package script '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.bash' +[0.868s] INFO:colcon.colcon_core.shell:Creating package script '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.zsh' +[0.868s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/colcon-core/packages/stretch_web_teleop) +[0.868s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:closing loop +[0.869s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:loop closed +[0.869s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete finished with '0' +[0.869s] DEBUG:colcon.colcon_core.event_reactor:joining thread +[0.873s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.terminal_notifier': Not used on non-Darwin systems +[0.873s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.win32': Not used on non-Windows systems +[0.873s] INFO:colcon.colcon_notification.desktop_notification:Sending desktop notification using 'notify2' +[0.886s] DEBUG:colcon.colcon_core.event_reactor:joined thread +[0.886s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/local_setup.ps1' +[0.887s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/_local_setup_util_ps1.py' +[0.888s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/setup.ps1' +[0.891s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/local_setup.sh' +[0.891s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/_local_setup_util_sh.py' +[0.892s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/setup.sh' +[0.895s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/local_setup.bash' +[0.895s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/setup.bash' +[0.898s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/local_setup.zsh' +[0.898s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/setup.zsh' diff --git a/log/build_2024-04-29_21-21-16/stretch_web_teleop/command.log b/log/build_2024-04-29_21-21-16/stretch_web_teleop/command.log new file mode 100644 index 00000000..ef246275 --- /dev/null +++ b/log/build_2024-04-29_21-21-16/stretch_web_teleop/command.log @@ -0,0 +1,6 @@ +Invoking command in '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/hello-robot/ament_ws/install/tf2_web_republisher_py:/home/hello-robot/ament_ws/install/stretch_ros_tutorials:/home/hello-robot/ament_ws/install/stretch_funmap:/home/hello-robot/ament_ws/install/stretch_calibration:/home/hello-robot/ament_ws/install/stretch_demos:/home/hello-robot/ament_ws/install/stretch_deep_perception:/home/hello-robot/ament_ws/install/stretch_core:/home/hello-robot/ament_ws/install/respeaker_ros2:/home/hello-robot/ament_ws/install/hello_helpers:/opt/ros/humble /usr/bin/cmake /home/hello-robot/ament_ws/src/stretch_web_teleop -DCMAKE_INSTALL_PREFIX=/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop +Invoked command in '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/hello-robot/ament_ws/install/tf2_web_republisher_py:/home/hello-robot/ament_ws/install/stretch_ros_tutorials:/home/hello-robot/ament_ws/install/stretch_funmap:/home/hello-robot/ament_ws/install/stretch_calibration:/home/hello-robot/ament_ws/install/stretch_demos:/home/hello-robot/ament_ws/install/stretch_deep_perception:/home/hello-robot/ament_ws/install/stretch_core:/home/hello-robot/ament_ws/install/respeaker_ros2:/home/hello-robot/ament_ws/install/hello_helpers:/opt/ros/humble /usr/bin/cmake /home/hello-robot/ament_ws/src/stretch_web_teleop -DCMAKE_INSTALL_PREFIX=/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop +Invoking command in '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/hello-robot/ament_ws/install/tf2_web_republisher_py:/home/hello-robot/ament_ws/install/stretch_ros_tutorials:/home/hello-robot/ament_ws/install/stretch_funmap:/home/hello-robot/ament_ws/install/stretch_calibration:/home/hello-robot/ament_ws/install/stretch_demos:/home/hello-robot/ament_ws/install/stretch_deep_perception:/home/hello-robot/ament_ws/install/stretch_core:/home/hello-robot/ament_ws/install/respeaker_ros2:/home/hello-robot/ament_ws/install/hello_helpers:/opt/ros/humble /usr/bin/cmake --build /home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop -- -j16 -l16 +Invoked command in '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/hello-robot/ament_ws/install/tf2_web_republisher_py:/home/hello-robot/ament_ws/install/stretch_ros_tutorials:/home/hello-robot/ament_ws/install/stretch_funmap:/home/hello-robot/ament_ws/install/stretch_calibration:/home/hello-robot/ament_ws/install/stretch_demos:/home/hello-robot/ament_ws/install/stretch_deep_perception:/home/hello-robot/ament_ws/install/stretch_core:/home/hello-robot/ament_ws/install/respeaker_ros2:/home/hello-robot/ament_ws/install/hello_helpers:/opt/ros/humble /usr/bin/cmake --build /home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop -- -j16 -l16 +Invoking command in '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/hello-robot/ament_ws/install/tf2_web_republisher_py:/home/hello-robot/ament_ws/install/stretch_ros_tutorials:/home/hello-robot/ament_ws/install/stretch_funmap:/home/hello-robot/ament_ws/install/stretch_calibration:/home/hello-robot/ament_ws/install/stretch_demos:/home/hello-robot/ament_ws/install/stretch_deep_perception:/home/hello-robot/ament_ws/install/stretch_core:/home/hello-robot/ament_ws/install/respeaker_ros2:/home/hello-robot/ament_ws/install/hello_helpers:/opt/ros/humble /usr/bin/cmake --install /home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop +Invoked command in '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/hello-robot/ament_ws/install/tf2_web_republisher_py:/home/hello-robot/ament_ws/install/stretch_ros_tutorials:/home/hello-robot/ament_ws/install/stretch_funmap:/home/hello-robot/ament_ws/install/stretch_calibration:/home/hello-robot/ament_ws/install/stretch_demos:/home/hello-robot/ament_ws/install/stretch_deep_perception:/home/hello-robot/ament_ws/install/stretch_core:/home/hello-robot/ament_ws/install/respeaker_ros2:/home/hello-robot/ament_ws/install/hello_helpers:/opt/ros/humble /usr/bin/cmake --install /home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop diff --git a/log/build_2024-04-29_21-21-16/stretch_web_teleop/stderr.log b/log/build_2024-04-29_21-21-16/stretch_web_teleop/stderr.log new file mode 100644 index 00000000..e69de29b diff --git a/log/build_2024-04-29_21-21-16/stretch_web_teleop/stdout.log b/log/build_2024-04-29_21-21-16/stretch_web_teleop/stdout.log new file mode 100644 index 00000000..f3b86093 --- /dev/null +++ b/log/build_2024-04-29_21-21-16/stretch_web_teleop/stdout.log @@ -0,0 +1,58 @@ +-- The C compiler identification is GNU 11.4.0 +-- The CXX compiler identification is GNU 11.4.0 +-- Detecting C compiler ABI info +-- Detecting C compiler ABI info - done +-- Check for working C compiler: /usr/bin/cc - skipped +-- Detecting C compile features +-- Detecting C compile features - done +-- Detecting CXX compiler ABI info +-- Detecting CXX compiler ABI info - done +-- Check for working CXX compiler: /usr/bin/c++ - skipped +-- Detecting CXX compile features +-- Detecting CXX compile features - done +-- Found ament_cmake: 1.3.8 (/opt/ros/humble/share/ament_cmake/cmake) +-- Found Python3: /usr/bin/python3 (found version "3.10.12") found components: Interpreter +-- Found rosbridge_server: 1.3.2 (/home/hello-robot/ament_ws/install/rosbridge_server/share/rosbridge_server/cmake) +-- Configuring done +-- Generating done +-- Build files have been written to: /home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop +-- Install configuration: "" +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/lib/stretch_web_teleop/configure_video_streams.py +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/lib/stretch_web_teleop/navigation_camera.py +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch/navigation_camera.launch.py +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch/gripper_camera.launch.py +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch/web_interface.launch.py +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch/multi_camera.launch.py +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/.gitkeep +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/rootCA.pem +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/stretch-se3-3031+6.pem +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/stretch-se3-3031+6-key.pem +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/rootCA-key.pem +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/configure_video_streams.py +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/navigation_camera.py +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/old_navigation_camera.py +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/gripper_camera.py +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/blank_image.png +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/config +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/config/configure_video_streams_params.yaml +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/maps +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/maps/map.pgm +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/maps/map.yaml +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/ament_index/resource_index/package_run_dependencies/stretch_web_teleop +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/ament_index/resource_index/parent_prefix_path/stretch_web_teleop +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/environment/ament_prefix_path.sh +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/environment/ament_prefix_path.dsv +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/environment/path.sh +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/environment/path.dsv +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.bash +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.sh +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.zsh +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.dsv +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.dsv +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/ament_index/resource_index/packages/stretch_web_teleop +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/cmake/stretch_web_teleopConfig.cmake +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/cmake/stretch_web_teleopConfig-version.cmake +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.xml diff --git a/log/build_2024-04-29_21-21-16/stretch_web_teleop/stdout_stderr.log b/log/build_2024-04-29_21-21-16/stretch_web_teleop/stdout_stderr.log new file mode 100644 index 00000000..f3b86093 --- /dev/null +++ b/log/build_2024-04-29_21-21-16/stretch_web_teleop/stdout_stderr.log @@ -0,0 +1,58 @@ +-- The C compiler identification is GNU 11.4.0 +-- The CXX compiler identification is GNU 11.4.0 +-- Detecting C compiler ABI info +-- Detecting C compiler ABI info - done +-- Check for working C compiler: /usr/bin/cc - skipped +-- Detecting C compile features +-- Detecting C compile features - done +-- Detecting CXX compiler ABI info +-- Detecting CXX compiler ABI info - done +-- Check for working CXX compiler: /usr/bin/c++ - skipped +-- Detecting CXX compile features +-- Detecting CXX compile features - done +-- Found ament_cmake: 1.3.8 (/opt/ros/humble/share/ament_cmake/cmake) +-- Found Python3: /usr/bin/python3 (found version "3.10.12") found components: Interpreter +-- Found rosbridge_server: 1.3.2 (/home/hello-robot/ament_ws/install/rosbridge_server/share/rosbridge_server/cmake) +-- Configuring done +-- Generating done +-- Build files have been written to: /home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop +-- Install configuration: "" +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/lib/stretch_web_teleop/configure_video_streams.py +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/lib/stretch_web_teleop/navigation_camera.py +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch/navigation_camera.launch.py +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch/gripper_camera.launch.py +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch/web_interface.launch.py +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch/multi_camera.launch.py +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/.gitkeep +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/rootCA.pem +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/stretch-se3-3031+6.pem +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/stretch-se3-3031+6-key.pem +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/rootCA-key.pem +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/configure_video_streams.py +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/navigation_camera.py +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/old_navigation_camera.py +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/gripper_camera.py +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/blank_image.png +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/config +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/config/configure_video_streams_params.yaml +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/maps +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/maps/map.pgm +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/maps/map.yaml +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/ament_index/resource_index/package_run_dependencies/stretch_web_teleop +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/ament_index/resource_index/parent_prefix_path/stretch_web_teleop +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/environment/ament_prefix_path.sh +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/environment/ament_prefix_path.dsv +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/environment/path.sh +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/environment/path.dsv +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.bash +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.sh +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.zsh +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.dsv +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.dsv +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/ament_index/resource_index/packages/stretch_web_teleop +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/cmake/stretch_web_teleopConfig.cmake +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/cmake/stretch_web_teleopConfig-version.cmake +-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.xml diff --git a/log/build_2024-04-29_21-21-16/stretch_web_teleop/streams.log b/log/build_2024-04-29_21-21-16/stretch_web_teleop/streams.log new file mode 100644 index 00000000..56f41052 --- /dev/null +++ b/log/build_2024-04-29_21-21-16/stretch_web_teleop/streams.log @@ -0,0 +1,64 @@ +[0.007s] Invoking command in '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/hello-robot/ament_ws/install/tf2_web_republisher_py:/home/hello-robot/ament_ws/install/stretch_ros_tutorials:/home/hello-robot/ament_ws/install/stretch_funmap:/home/hello-robot/ament_ws/install/stretch_calibration:/home/hello-robot/ament_ws/install/stretch_demos:/home/hello-robot/ament_ws/install/stretch_deep_perception:/home/hello-robot/ament_ws/install/stretch_core:/home/hello-robot/ament_ws/install/respeaker_ros2:/home/hello-robot/ament_ws/install/hello_helpers:/opt/ros/humble /usr/bin/cmake /home/hello-robot/ament_ws/src/stretch_web_teleop -DCMAKE_INSTALL_PREFIX=/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop +[0.048s] -- The C compiler identification is GNU 11.4.0 +[0.105s] -- The CXX compiler identification is GNU 11.4.0 +[0.111s] -- Detecting C compiler ABI info +[0.163s] -- Detecting C compiler ABI info - done +[0.167s] -- Check for working C compiler: /usr/bin/cc - skipped +[0.168s] -- Detecting C compile features +[0.168s] -- Detecting C compile features - done +[0.170s] -- Detecting CXX compiler ABI info +[0.225s] -- Detecting CXX compiler ABI info - done +[0.229s] -- Check for working CXX compiler: /usr/bin/c++ - skipped +[0.229s] -- Detecting CXX compile features +[0.230s] -- Detecting CXX compile features - done +[0.233s] -- Found ament_cmake: 1.3.8 (/opt/ros/humble/share/ament_cmake/cmake) +[0.371s] -- Found Python3: /usr/bin/python3 (found version "3.10.12") found components: Interpreter +[0.461s] -- Found rosbridge_server: 1.3.2 (/home/hello-robot/ament_ws/install/rosbridge_server/share/rosbridge_server/cmake) +[0.510s] -- Configuring done +[0.511s] -- Generating done +[0.512s] -- Build files have been written to: /home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop +[0.516s] Invoked command in '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/hello-robot/ament_ws/install/tf2_web_republisher_py:/home/hello-robot/ament_ws/install/stretch_ros_tutorials:/home/hello-robot/ament_ws/install/stretch_funmap:/home/hello-robot/ament_ws/install/stretch_calibration:/home/hello-robot/ament_ws/install/stretch_demos:/home/hello-robot/ament_ws/install/stretch_deep_perception:/home/hello-robot/ament_ws/install/stretch_core:/home/hello-robot/ament_ws/install/respeaker_ros2:/home/hello-robot/ament_ws/install/hello_helpers:/opt/ros/humble /usr/bin/cmake /home/hello-robot/ament_ws/src/stretch_web_teleop -DCMAKE_INSTALL_PREFIX=/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop +[0.517s] Invoking command in '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/hello-robot/ament_ws/install/tf2_web_republisher_py:/home/hello-robot/ament_ws/install/stretch_ros_tutorials:/home/hello-robot/ament_ws/install/stretch_funmap:/home/hello-robot/ament_ws/install/stretch_calibration:/home/hello-robot/ament_ws/install/stretch_demos:/home/hello-robot/ament_ws/install/stretch_deep_perception:/home/hello-robot/ament_ws/install/stretch_core:/home/hello-robot/ament_ws/install/respeaker_ros2:/home/hello-robot/ament_ws/install/hello_helpers:/opt/ros/humble /usr/bin/cmake --build /home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop -- -j16 -l16 +[0.546s] Invoked command in '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/hello-robot/ament_ws/install/tf2_web_republisher_py:/home/hello-robot/ament_ws/install/stretch_ros_tutorials:/home/hello-robot/ament_ws/install/stretch_funmap:/home/hello-robot/ament_ws/install/stretch_calibration:/home/hello-robot/ament_ws/install/stretch_demos:/home/hello-robot/ament_ws/install/stretch_deep_perception:/home/hello-robot/ament_ws/install/stretch_core:/home/hello-robot/ament_ws/install/respeaker_ros2:/home/hello-robot/ament_ws/install/hello_helpers:/opt/ros/humble /usr/bin/cmake --build /home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop -- -j16 -l16 +[0.568s] Invoking command in '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/hello-robot/ament_ws/install/tf2_web_republisher_py:/home/hello-robot/ament_ws/install/stretch_ros_tutorials:/home/hello-robot/ament_ws/install/stretch_funmap:/home/hello-robot/ament_ws/install/stretch_calibration:/home/hello-robot/ament_ws/install/stretch_demos:/home/hello-robot/ament_ws/install/stretch_deep_perception:/home/hello-robot/ament_ws/install/stretch_core:/home/hello-robot/ament_ws/install/respeaker_ros2:/home/hello-robot/ament_ws/install/hello_helpers:/opt/ros/humble /usr/bin/cmake --install /home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop +[0.573s] -- Install configuration: "" +[0.573s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/lib/stretch_web_teleop/configure_video_streams.py +[0.573s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/lib/stretch_web_teleop/navigation_camera.py +[0.574s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch +[0.574s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch/navigation_camera.launch.py +[0.574s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch/gripper_camera.launch.py +[0.574s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch/web_interface.launch.py +[0.574s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch/multi_camera.launch.py +[0.574s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates +[0.574s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/.gitkeep +[0.574s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/rootCA.pem +[0.574s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/stretch-se3-3031+6.pem +[0.574s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/stretch-se3-3031+6-key.pem +[0.574s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/rootCA-key.pem +[0.574s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes +[0.575s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/configure_video_streams.py +[0.575s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/navigation_camera.py +[0.575s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/old_navigation_camera.py +[0.575s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/gripper_camera.py +[0.575s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/blank_image.png +[0.575s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/config +[0.575s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/config/configure_video_streams_params.yaml +[0.575s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/maps +[0.575s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/maps/map.pgm +[0.575s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/maps/map.yaml +[0.575s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/ament_index/resource_index/package_run_dependencies/stretch_web_teleop +[0.575s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/ament_index/resource_index/parent_prefix_path/stretch_web_teleop +[0.575s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/environment/ament_prefix_path.sh +[0.576s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/environment/ament_prefix_path.dsv +[0.576s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/environment/path.sh +[0.576s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/environment/path.dsv +[0.576s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.bash +[0.576s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.sh +[0.576s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.zsh +[0.576s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.dsv +[0.576s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.dsv +[0.576s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/ament_index/resource_index/packages/stretch_web_teleop +[0.576s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/cmake/stretch_web_teleopConfig.cmake +[0.576s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/cmake/stretch_web_teleopConfig-version.cmake +[0.576s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.xml +[0.577s] Invoked command in '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/hello-robot/ament_ws/install/tf2_web_republisher_py:/home/hello-robot/ament_ws/install/stretch_ros_tutorials:/home/hello-robot/ament_ws/install/stretch_funmap:/home/hello-robot/ament_ws/install/stretch_calibration:/home/hello-robot/ament_ws/install/stretch_demos:/home/hello-robot/ament_ws/install/stretch_deep_perception:/home/hello-robot/ament_ws/install/stretch_core:/home/hello-robot/ament_ws/install/respeaker_ros2:/home/hello-robot/ament_ws/install/hello_helpers:/opt/ros/humble /usr/bin/cmake --install /home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop diff --git a/log/build_2024-04-29_21-23-12/events.log b/log/build_2024-04-29_21-23-12/events.log new file mode 100644 index 00000000..dd0bec7a --- /dev/null +++ b/log/build_2024-04-29_21-23-12/events.log @@ -0,0 +1,52 @@ +[0.000000] (-) TimerEvent: {} +[0.000459] (stretch_web_teleop) JobQueued: {'identifier': 'stretch_web_teleop', 'dependencies': OrderedDict()} +[0.000496] (stretch_web_teleop) JobStarted: {'identifier': 'stretch_web_teleop'} +[0.006329] (stretch_web_teleop) JobProgress: {'identifier': 'stretch_web_teleop', 'progress': 'cmake'} +[0.006712] (stretch_web_teleop) JobProgress: {'identifier': 'stretch_web_teleop', 'progress': 'build'} +[0.007138] (stretch_web_teleop) Command: {'cmd': ['/usr/bin/cmake', '--build', '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop', '--', '-j16', '-l16'], 'cwd': '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop', 'env': OrderedDict([('HELLO_FLEET_ID', 'stretch-se3-3031'), ('LESSOPEN', '| /usr/bin/lesspipe %s'), ('PYTHONWARNINGS', 'ignore:setup.py install is deprecated,ignore:Invalid dash-separated options,ignore:pkg_resources is deprecated as an API,ignore:Usage of dash-separated'), ('USER', 'hello-robot'), ('XDG_SESSION_TYPE', 'x11'), ('HELLO_FLEET_PATH', '/home/hello-robot/stretch_user'), ('SHLVL', '1'), ('LD_LIBRARY_PATH', '/home/hello-robot/ament_ws/install/tf2_web_republisher/lib:/home/hello-robot/ament_ws/install/speech_recognition_msgs/lib:/home/hello-robot/ament_ws/install/sound_play_msgs/lib:/home/hello-robot/ament_ws/install/rosbridge_test_msgs/lib:/home/hello-robot/ament_ws/install/rosbridge_msgs/lib:/home/hello-robot/ament_ws/install/rosapi_msgs/lib:/home/hello-robot/ament_ws/install/realsense2_camera/lib:/home/hello-robot/ament_ws/install/realsense2_camera_msgs/lib:/home/hello-robot/ament_ws/install/audio_play/lib:/home/hello-robot/ament_ws/install/audio_capture/lib:/home/hello-robot/ament_ws/install/audio_common_msgs/lib:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib'), ('HOME', '/home/hello-robot'), ('OLDPWD', '/home/hello-robot/ament_ws'), ('DESKTOP_SESSION', 'ubuntu'), ('ROS_PYTHON_VERSION', '3'), ('GNOME_SHELL_SESSION_MODE', 'ubuntu'), ('GTK_MODULES', 'gail:atk-bridge'), ('SYSTEMD_EXEC_PID', '2243'), ('DBUS_SESSION_BUS_ADDRESS', 'unix:path=/run/user/1000/bus'), ('COLORTERM', 'truecolor'), ('_colcon_cd_root', '/home/hello-robot'), ('COLCON_PREFIX_PATH', '/home/hello-robot/ament_ws/install'), ('ROS_DISTRO', 'humble'), ('GTK_IM_MODULE', 'ibus'), ('LOGNAME', 'hello-robot'), ('_', '/usr/bin/colcon'), ('ROS_VERSION', '2'), ('XDG_SESSION_CLASS', 'user'), ('USERNAME', 'hello-robot'), ('TERM', 'xterm-256color'), ('GNOME_DESKTOP_SESSION_ID', 'this-is-deprecated'), ('ROS_LOCALHOST_ONLY', '0'), ('WINDOWPATH', '2'), ('PATH', '/home/hello-robot/ament_ws/install/audio_play/bin:/home/hello-robot/ament_ws/install/audio_capture/bin:/opt/ros/humble/bin:/home/hello-robot/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/snap/bin:/home/hello-robot/.local/bin'), ('SESSION_MANAGER', 'local/stretch-se3-3031:@/tmp/.ICE-unix/2219,unix/stretch-se3-3031:/tmp/.ICE-unix/2219'), ('XDG_MENU_PREFIX', 'gnome-'), ('GNOME_TERMINAL_SCREEN', '/org/gnome/Terminal/screen/6c436525_4ed9_4c42_ad01_1841cce5a788'), ('XDG_RUNTIME_DIR', '/run/user/1000'), ('DISPLAY', ':0'), ('LANG', 'en_US.UTF-8'), ('XDG_CURRENT_DESKTOP', 'ubuntu:GNOME'), ('XMODIFIERS', '@im=ibus'), ('XDG_SESSION_DESKTOP', 'ubuntu'), ('XAUTHORITY', '/run/user/1000/gdm/Xauthority'), ('LS_COLORS', 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'/home/hello-robot/ament_ws/install/tf2_web_republisher:/home/hello-robot/ament_ws/install/stretch_web_teleop:/home/hello-robot/ament_ws/install/stretch_rtabmap:/home/hello-robot/ament_ws/install/stretch_nav2:/home/hello-robot/ament_ws/install/stretch_description:/home/hello-robot/ament_ws/install/speech_recognition_msgs:/home/hello-robot/ament_ws/install/sound_play_msgs:/home/hello-robot/ament_ws/install/audio_common:/home/hello-robot/ament_ws/install/sound_play:/home/hello-robot/ament_ws/install/sllidar_ros2:/home/hello-robot/ament_ws/install/rosbridge_test_msgs:/home/hello-robot/ament_ws/install/rosbridge_suite:/home/hello-robot/ament_ws/install/rosbridge_server:/home/hello-robot/ament_ws/install/rosbridge_msgs:/home/hello-robot/ament_ws/install/rosapi:/home/hello-robot/ament_ws/install/rosbridge_library:/home/hello-robot/ament_ws/install/rosapi_msgs:/home/hello-robot/ament_ws/install/ros2_numpy:/home/hello-robot/ament_ws/install/realsense2_description:/home/hello-robot/ament_ws/install/realsense2_camera:/home/hello-robot/ament_ws/install/realsense2_camera_msgs:/home/hello-robot/ament_ws/install/audio_play:/home/hello-robot/ament_ws/install/audio_capture:/home/hello-robot/ament_ws/install/audio_common_msgs:/home/hello-robot/ament_ws/install/tf2_web_republisher_py:/home/hello-robot/ament_ws/install/stretch_ros_tutorials:/home/hello-robot/ament_ws/install/stretch_funmap:/home/hello-robot/ament_ws/install/stretch_calibration:/home/hello-robot/ament_ws/install/stretch_demos:/home/hello-robot/ament_ws/install/stretch_deep_perception:/home/hello-robot/ament_ws/install/stretch_core:/home/hello-robot/ament_ws/install/respeaker_ros2:/home/hello-robot/ament_ws/install/hello_helpers:/opt/ros/humble')]), 'shell': False} +[0.062562] (stretch_web_teleop) StdoutLine: {'line': b'-- Install configuration: ""\n'} +[0.062770] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/lib/stretch_web_teleop/configure_video_streams.py\n'} +[0.062858] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/lib/stretch_web_teleop/navigation_camera.py\n'} +[0.062927] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch\n'} +[0.062992] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch/navigation_camera.launch.py\n'} +[0.063057] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch/gripper_camera.launch.py\n'} +[0.063119] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch/web_interface.launch.py\n'} +[0.063182] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch/multi_camera.launch.py\n'} +[0.063244] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates\n'} +[0.063306] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/.gitkeep\n'} +[0.063369] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/rootCA.pem\n'} +[0.063431] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/stretch-se3-3031+6.pem\n'} +[0.063497] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/stretch-se3-3031+6-key.pem\n'} +[0.063739] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/rootCA-key.pem\n'} +[0.063960] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes\n'} +[0.064008] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/configure_video_streams.py\n'} +[0.064048] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/navigation_camera.py\n'} +[0.064090] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/old_navigation_camera.py\n'} +[0.064521] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/gripper_camera.py\n'} +[0.064622] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/blank_image.png\n'} +[0.064664] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/config\n'} +[0.064701] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/config/configure_video_streams_params.yaml\n'} +[0.064738] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/maps\n'} +[0.064771] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/maps/map.pgm\n'} +[0.064805] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/maps/map.yaml\n'} +[0.064837] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/ament_index/resource_index/package_run_dependencies/stretch_web_teleop\n'} +[0.064871] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/ament_index/resource_index/parent_prefix_path/stretch_web_teleop\n'} +[0.064903] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/environment/ament_prefix_path.sh\n'} +[0.064936] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/environment/ament_prefix_path.dsv\n'} +[0.064969] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/environment/path.sh\n'} +[0.065029] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/environment/path.dsv\n'} +[0.065062] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.bash\n'} +[0.065095] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.sh\n'} +[0.065128] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.zsh\n'} +[0.065177] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.dsv\n'} +[0.065228] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.dsv\n'} +[0.065261] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/ament_index/resource_index/packages/stretch_web_teleop\n'} +[0.065293] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/cmake/stretch_web_teleopConfig.cmake\n'} +[0.065326] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/cmake/stretch_web_teleopConfig-version.cmake\n'} +[0.065359] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.xml\n'} +[0.065391] (stretch_web_teleop) CommandEnded: {'returncode': 0} +[0.090631] (stretch_web_teleop) JobEnded: {'identifier': 'stretch_web_teleop', 'rc': 0} +[0.091050] (-) EventReactorShutdown: {} diff --git a/log/build_2024-04-29_21-23-12/logger_all.log b/log/build_2024-04-29_21-23-12/logger_all.log new file mode 100644 index 00000000..3d2e6a20 --- /dev/null +++ b/log/build_2024-04-29_21-23-12/logger_all.log @@ -0,0 +1,104 @@ +[0.085s] DEBUG:colcon:Command line arguments: ['/usr/bin/colcon', 'build'] +[0.085s] 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=16, 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, mixin_files=None, mixin=None, verb_parser=, verb_extension=, main=>, mixin_verb=('build',)) +[0.217s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) check parameters +[0.217s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) check parameters +[0.217s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) check parameters +[0.217s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) check parameters +[0.217s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) discover +[0.217s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) discover +[0.217s] INFO:colcon.colcon_core.package_discovery:Crawling recursively for packages in '/home/hello-robot/ament_ws/src/stretch_web_teleop' +[0.217s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ignore', 'ignore_ament_install'] +[0.217s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore' +[0.217s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore_ament_install' +[0.217s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_pkg'] +[0.217s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_pkg' +[0.217s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_meta'] +[0.217s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_meta' +[0.217s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ros'] +[0.217s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ros' +[0.225s] DEBUG:colcon.colcon_core.package_identification:Package '.' with type 'ros.ament_cmake' and name 'stretch_web_teleop' +[0.225s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) using defaults +[0.225s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) discover +[0.225s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) using defaults +[0.225s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) discover +[0.225s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) using defaults +[0.237s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) check parameters +[0.237s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) discover +[0.239s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 33 installed packages in /home/hello-robot/ament_ws/install +[0.240s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 387 installed packages in /opt/ros/humble +[0.241s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) using defaults +[0.266s] Level 5:colcon.colcon_core.verb:set package 'stretch_web_teleop' build argument 'cmake_args' from command line to 'None' +[0.266s] Level 5:colcon.colcon_core.verb:set package 'stretch_web_teleop' build argument 'cmake_target' from command line to 'None' +[0.266s] Level 5:colcon.colcon_core.verb:set package 'stretch_web_teleop' build argument 'cmake_target_skip_unavailable' from command line to 'False' +[0.266s] Level 5:colcon.colcon_core.verb:set package 'stretch_web_teleop' build argument 'cmake_clean_cache' from command line to 'False' +[0.266s] Level 5:colcon.colcon_core.verb:set package 'stretch_web_teleop' build argument 'cmake_clean_first' from command line to 'False' +[0.266s] Level 5:colcon.colcon_core.verb:set package 'stretch_web_teleop' build argument 'cmake_force_configure' from command line to 'False' +[0.266s] Level 5:colcon.colcon_core.verb:set package 'stretch_web_teleop' build argument 'ament_cmake_args' from command line to 'None' +[0.266s] Level 5:colcon.colcon_core.verb:set package 'stretch_web_teleop' build argument 'catkin_cmake_args' from command line to 'None' +[0.266s] Level 5:colcon.colcon_core.verb:set package 'stretch_web_teleop' build argument 'catkin_skip_building_tests' from command line to 'False' +[0.266s] DEBUG:colcon.colcon_core.verb:Building package 'stretch_web_teleop' with the following arguments: {'ament_cmake_args': None, 'build_base': '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop', 'catkin_cmake_args': None, 'catkin_skip_building_tests': False, 'cmake_args': None, 'cmake_clean_cache': False, 'cmake_clean_first': False, 'cmake_force_configure': False, 'cmake_target': None, 'cmake_target_skip_unavailable': False, 'install_base': '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop', 'merge_install': False, 'path': '/home/hello-robot/ament_ws/src/stretch_web_teleop', 'symlink_install': False, 'test_result_base': None} +[0.266s] INFO:colcon.colcon_core.executor:Executing jobs using 'parallel' executor +[0.267s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete +[0.267s] INFO:colcon.colcon_ros.task.ament_cmake.build:Building ROS package in '/home/hello-robot/ament_ws/src/stretch_web_teleop' with build type 'ament_cmake' +[0.267s] INFO:colcon.colcon_cmake.task.cmake.build:Building CMake package in '/home/hello-robot/ament_ws/src/stretch_web_teleop' +[0.268s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_core.shell.bat': Not used on non-Windows systems +[0.268s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell +[0.268s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment +[0.276s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/hello-robot/ament_ws/install/tf2_web_republisher_py:/home/hello-robot/ament_ws/install/stretch_ros_tutorials:/home/hello-robot/ament_ws/install/stretch_funmap:/home/hello-robot/ament_ws/install/stretch_calibration:/home/hello-robot/ament_ws/install/stretch_demos:/home/hello-robot/ament_ws/install/stretch_deep_perception:/home/hello-robot/ament_ws/install/stretch_core:/home/hello-robot/ament_ws/install/respeaker_ros2:/home/hello-robot/ament_ws/install/hello_helpers:/opt/ros/humble /usr/bin/cmake --build /home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop -- -j16 -l16 +[0.303s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/hello-robot/ament_ws/install/tf2_web_republisher_py:/home/hello-robot/ament_ws/install/stretch_ros_tutorials:/home/hello-robot/ament_ws/install/stretch_funmap:/home/hello-robot/ament_ws/install/stretch_calibration:/home/hello-robot/ament_ws/install/stretch_demos:/home/hello-robot/ament_ws/install/stretch_deep_perception:/home/hello-robot/ament_ws/install/stretch_core:/home/hello-robot/ament_ws/install/respeaker_ros2:/home/hello-robot/ament_ws/install/hello_helpers:/opt/ros/humble /usr/bin/cmake --build /home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop -- -j16 -l16 +[0.324s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/hello-robot/ament_ws/install/tf2_web_republisher_py:/home/hello-robot/ament_ws/install/stretch_ros_tutorials:/home/hello-robot/ament_ws/install/stretch_funmap:/home/hello-robot/ament_ws/install/stretch_calibration:/home/hello-robot/ament_ws/install/stretch_demos:/home/hello-robot/ament_ws/install/stretch_deep_perception:/home/hello-robot/ament_ws/install/stretch_core:/home/hello-robot/ament_ws/install/respeaker_ros2:/home/hello-robot/ament_ws/install/hello_helpers:/opt/ros/humble /usr/bin/cmake --install /home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop +[0.331s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(stretch_web_teleop) +[0.332s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/hello-robot/ament_ws/install/tf2_web_republisher_py:/home/hello-robot/ament_ws/install/stretch_ros_tutorials:/home/hello-robot/ament_ws/install/stretch_funmap:/home/hello-robot/ament_ws/install/stretch_calibration:/home/hello-robot/ament_ws/install/stretch_demos:/home/hello-robot/ament_ws/install/stretch_deep_perception:/home/hello-robot/ament_ws/install/stretch_core:/home/hello-robot/ament_ws/install/respeaker_ros2:/home/hello-robot/ament_ws/install/hello_helpers:/opt/ros/humble /usr/bin/cmake --install /home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop +[0.334s] Level 1:colcon.colcon_core.environment:checking '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop' for CMake module files +[0.334s] Level 1:colcon.colcon_core.environment:checking '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop' for CMake config files +[0.334s] Level 1:colcon.colcon_core.shell:create_environment_hook('stretch_web_teleop', 'cmake_prefix_path') +[0.334s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/hook/cmake_prefix_path.ps1' +[0.335s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/hook/cmake_prefix_path.dsv' +[0.335s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/hook/cmake_prefix_path.sh' +[0.336s] Level 1:colcon.colcon_core.environment:checking '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/lib' +[0.336s] Level 1:colcon.colcon_core.environment:checking '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/bin' +[0.336s] Level 1:colcon.colcon_core.environment:checking '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/lib/pkgconfig/stretch_web_teleop.pc' +[0.336s] Level 1:colcon.colcon_core.environment:checking '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/lib/python3.10/site-packages' +[0.336s] Level 1:colcon.colcon_core.environment:checking '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/bin' +[0.336s] INFO:colcon.colcon_core.shell:Creating package script '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.ps1' +[0.337s] INFO:colcon.colcon_core.shell:Creating package descriptor '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.dsv' +[0.337s] INFO:colcon.colcon_core.shell:Creating package script '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.sh' +[0.338s] INFO:colcon.colcon_core.shell:Creating package script '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.bash' +[0.338s] INFO:colcon.colcon_core.shell:Creating package script '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.zsh' +[0.338s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/colcon-core/packages/stretch_web_teleop) +[0.354s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(stretch_web_teleop) +[0.354s] Level 1:colcon.colcon_core.environment:checking '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop' for CMake module files +[0.354s] Level 1:colcon.colcon_core.environment:checking '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop' for CMake config files +[0.354s] Level 1:colcon.colcon_core.shell:create_environment_hook('stretch_web_teleop', 'cmake_prefix_path') +[0.354s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/hook/cmake_prefix_path.ps1' +[0.355s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/hook/cmake_prefix_path.dsv' +[0.355s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/hook/cmake_prefix_path.sh' +[0.355s] Level 1:colcon.colcon_core.environment:checking '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/lib' +[0.355s] Level 1:colcon.colcon_core.environment:checking '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/bin' +[0.355s] Level 1:colcon.colcon_core.environment:checking '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/lib/pkgconfig/stretch_web_teleop.pc' +[0.356s] Level 1:colcon.colcon_core.environment:checking '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/lib/python3.10/site-packages' +[0.356s] Level 1:colcon.colcon_core.environment:checking '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/bin' +[0.356s] INFO:colcon.colcon_core.shell:Creating package script '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.ps1' +[0.356s] INFO:colcon.colcon_core.shell:Creating package descriptor '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.dsv' +[0.356s] INFO:colcon.colcon_core.shell:Creating package script '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.sh' +[0.357s] INFO:colcon.colcon_core.shell:Creating package script '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.bash' +[0.357s] INFO:colcon.colcon_core.shell:Creating package script '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.zsh' +[0.357s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/colcon-core/packages/stretch_web_teleop) +[0.357s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:closing loop +[0.357s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:loop closed +[0.357s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete finished with '0' +[0.357s] DEBUG:colcon.colcon_core.event_reactor:joining thread +[0.361s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.terminal_notifier': Not used on non-Darwin systems +[0.361s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.win32': Not used on non-Windows systems +[0.361s] INFO:colcon.colcon_notification.desktop_notification:Sending desktop notification using 'notify2' +[0.374s] DEBUG:colcon.colcon_core.event_reactor:joined thread +[0.374s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/local_setup.ps1' +[0.375s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/_local_setup_util_ps1.py' +[0.376s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/setup.ps1' +[0.377s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/local_setup.sh' +[0.377s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/_local_setup_util_sh.py' +[0.378s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/setup.sh' +[0.379s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/local_setup.bash' +[0.380s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/setup.bash' +[0.381s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/local_setup.zsh' +[0.381s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/setup.zsh' diff --git a/log/build_2024-04-29_21-23-12/stretch_web_teleop/command.log b/log/build_2024-04-29_21-23-12/stretch_web_teleop/command.log new file mode 100644 index 00000000..7ebe0c07 --- /dev/null +++ b/log/build_2024-04-29_21-23-12/stretch_web_teleop/command.log @@ -0,0 +1,4 @@ +Invoking command in '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/hello-robot/ament_ws/install/tf2_web_republisher_py:/home/hello-robot/ament_ws/install/stretch_ros_tutorials:/home/hello-robot/ament_ws/install/stretch_funmap:/home/hello-robot/ament_ws/install/stretch_calibration:/home/hello-robot/ament_ws/install/stretch_demos:/home/hello-robot/ament_ws/install/stretch_deep_perception:/home/hello-robot/ament_ws/install/stretch_core:/home/hello-robot/ament_ws/install/respeaker_ros2:/home/hello-robot/ament_ws/install/hello_helpers:/opt/ros/humble /usr/bin/cmake --build /home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop -- -j16 -l16 +Invoked command in '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/hello-robot/ament_ws/install/tf2_web_republisher_py:/home/hello-robot/ament_ws/install/stretch_ros_tutorials:/home/hello-robot/ament_ws/install/stretch_funmap:/home/hello-robot/ament_ws/install/stretch_calibration:/home/hello-robot/ament_ws/install/stretch_demos:/home/hello-robot/ament_ws/install/stretch_deep_perception:/home/hello-robot/ament_ws/install/stretch_core:/home/hello-robot/ament_ws/install/respeaker_ros2:/home/hello-robot/ament_ws/install/hello_helpers:/opt/ros/humble /usr/bin/cmake --build /home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop -- -j16 -l16 +Invoking command in '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/hello-robot/ament_ws/install/tf2_web_republisher_py:/home/hello-robot/ament_ws/install/stretch_ros_tutorials:/home/hello-robot/ament_ws/install/stretch_funmap:/home/hello-robot/ament_ws/install/stretch_calibration:/home/hello-robot/ament_ws/install/stretch_demos:/home/hello-robot/ament_ws/install/stretch_deep_perception:/home/hello-robot/ament_ws/install/stretch_core:/home/hello-robot/ament_ws/install/respeaker_ros2:/home/hello-robot/ament_ws/install/hello_helpers:/opt/ros/humble /usr/bin/cmake --install /home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop +Invoked command in '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/hello-robot/ament_ws/install/tf2_web_republisher_py:/home/hello-robot/ament_ws/install/stretch_ros_tutorials:/home/hello-robot/ament_ws/install/stretch_funmap:/home/hello-robot/ament_ws/install/stretch_calibration:/home/hello-robot/ament_ws/install/stretch_demos:/home/hello-robot/ament_ws/install/stretch_deep_perception:/home/hello-robot/ament_ws/install/stretch_core:/home/hello-robot/ament_ws/install/respeaker_ros2:/home/hello-robot/ament_ws/install/hello_helpers:/opt/ros/humble /usr/bin/cmake --install /home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop diff --git a/log/build_2024-04-29_21-23-12/stretch_web_teleop/stderr.log b/log/build_2024-04-29_21-23-12/stretch_web_teleop/stderr.log new file mode 100644 index 00000000..e69de29b diff --git a/log/build_2024-04-29_21-23-12/stretch_web_teleop/stdout.log b/log/build_2024-04-29_21-23-12/stretch_web_teleop/stdout.log new file mode 100644 index 00000000..6e9784b1 --- /dev/null +++ b/log/build_2024-04-29_21-23-12/stretch_web_teleop/stdout.log @@ -0,0 +1,40 @@ +-- Install configuration: "" +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/lib/stretch_web_teleop/configure_video_streams.py +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/lib/stretch_web_teleop/navigation_camera.py +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch/navigation_camera.launch.py +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch/gripper_camera.launch.py +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch/web_interface.launch.py +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch/multi_camera.launch.py +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/.gitkeep +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/rootCA.pem +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/stretch-se3-3031+6.pem +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/stretch-se3-3031+6-key.pem +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/rootCA-key.pem +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/configure_video_streams.py +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/navigation_camera.py +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/old_navigation_camera.py +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/gripper_camera.py +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/blank_image.png +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/config +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/config/configure_video_streams_params.yaml +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/maps +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/maps/map.pgm +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/maps/map.yaml +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/ament_index/resource_index/package_run_dependencies/stretch_web_teleop +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/ament_index/resource_index/parent_prefix_path/stretch_web_teleop +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/environment/ament_prefix_path.sh +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/environment/ament_prefix_path.dsv +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/environment/path.sh +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/environment/path.dsv +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.bash +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.sh +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.zsh +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.dsv +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.dsv +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/ament_index/resource_index/packages/stretch_web_teleop +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/cmake/stretch_web_teleopConfig.cmake +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/cmake/stretch_web_teleopConfig-version.cmake +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.xml diff --git a/log/build_2024-04-29_21-23-12/stretch_web_teleop/stdout_stderr.log b/log/build_2024-04-29_21-23-12/stretch_web_teleop/stdout_stderr.log new file mode 100644 index 00000000..6e9784b1 --- /dev/null +++ b/log/build_2024-04-29_21-23-12/stretch_web_teleop/stdout_stderr.log @@ -0,0 +1,40 @@ +-- Install configuration: "" +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/lib/stretch_web_teleop/configure_video_streams.py +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/lib/stretch_web_teleop/navigation_camera.py +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch/navigation_camera.launch.py +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch/gripper_camera.launch.py +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch/web_interface.launch.py +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch/multi_camera.launch.py +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/.gitkeep +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/rootCA.pem +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/stretch-se3-3031+6.pem +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/stretch-se3-3031+6-key.pem +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/rootCA-key.pem +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/configure_video_streams.py +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/navigation_camera.py +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/old_navigation_camera.py +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/gripper_camera.py +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/blank_image.png +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/config +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/config/configure_video_streams_params.yaml +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/maps +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/maps/map.pgm +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/maps/map.yaml +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/ament_index/resource_index/package_run_dependencies/stretch_web_teleop +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/ament_index/resource_index/parent_prefix_path/stretch_web_teleop +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/environment/ament_prefix_path.sh +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/environment/ament_prefix_path.dsv +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/environment/path.sh +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/environment/path.dsv +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.bash +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.sh +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.zsh +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.dsv +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.dsv +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/ament_index/resource_index/packages/stretch_web_teleop +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/cmake/stretch_web_teleopConfig.cmake +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/cmake/stretch_web_teleopConfig-version.cmake +-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.xml diff --git a/log/build_2024-04-29_21-23-12/stretch_web_teleop/streams.log b/log/build_2024-04-29_21-23-12/stretch_web_teleop/streams.log new file mode 100644 index 00000000..4e3caf37 --- /dev/null +++ b/log/build_2024-04-29_21-23-12/stretch_web_teleop/streams.log @@ -0,0 +1,44 @@ +[0.009s] Invoking command in '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/hello-robot/ament_ws/install/tf2_web_republisher_py:/home/hello-robot/ament_ws/install/stretch_ros_tutorials:/home/hello-robot/ament_ws/install/stretch_funmap:/home/hello-robot/ament_ws/install/stretch_calibration:/home/hello-robot/ament_ws/install/stretch_demos:/home/hello-robot/ament_ws/install/stretch_deep_perception:/home/hello-robot/ament_ws/install/stretch_core:/home/hello-robot/ament_ws/install/respeaker_ros2:/home/hello-robot/ament_ws/install/hello_helpers:/opt/ros/humble /usr/bin/cmake --build /home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop -- -j16 -l16 +[0.036s] Invoked command in '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/hello-robot/ament_ws/install/tf2_web_republisher_py:/home/hello-robot/ament_ws/install/stretch_ros_tutorials:/home/hello-robot/ament_ws/install/stretch_funmap:/home/hello-robot/ament_ws/install/stretch_calibration:/home/hello-robot/ament_ws/install/stretch_demos:/home/hello-robot/ament_ws/install/stretch_deep_perception:/home/hello-robot/ament_ws/install/stretch_core:/home/hello-robot/ament_ws/install/respeaker_ros2:/home/hello-robot/ament_ws/install/hello_helpers:/opt/ros/humble /usr/bin/cmake --build /home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop -- -j16 -l16 +[0.057s] Invoking command in '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/hello-robot/ament_ws/install/tf2_web_republisher_py:/home/hello-robot/ament_ws/install/stretch_ros_tutorials:/home/hello-robot/ament_ws/install/stretch_funmap:/home/hello-robot/ament_ws/install/stretch_calibration:/home/hello-robot/ament_ws/install/stretch_demos:/home/hello-robot/ament_ws/install/stretch_deep_perception:/home/hello-robot/ament_ws/install/stretch_core:/home/hello-robot/ament_ws/install/respeaker_ros2:/home/hello-robot/ament_ws/install/hello_helpers:/opt/ros/humble /usr/bin/cmake --install /home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop +[0.062s] -- Install configuration: "" +[0.062s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/lib/stretch_web_teleop/configure_video_streams.py +[0.062s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/lib/stretch_web_teleop/navigation_camera.py +[0.062s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch +[0.063s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch/navigation_camera.launch.py +[0.063s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch/gripper_camera.launch.py +[0.063s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch/web_interface.launch.py +[0.063s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch/multi_camera.launch.py +[0.063s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates +[0.063s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/.gitkeep +[0.063s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/rootCA.pem +[0.063s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/stretch-se3-3031+6.pem +[0.063s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/stretch-se3-3031+6-key.pem +[0.063s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/rootCA-key.pem +[0.063s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes +[0.064s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/configure_video_streams.py +[0.064s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/navigation_camera.py +[0.064s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/old_navigation_camera.py +[0.064s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/gripper_camera.py +[0.064s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/blank_image.png +[0.064s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/config +[0.064s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/config/configure_video_streams_params.yaml +[0.064s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/maps +[0.064s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/maps/map.pgm +[0.064s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/maps/map.yaml +[0.064s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/ament_index/resource_index/package_run_dependencies/stretch_web_teleop +[0.064s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/ament_index/resource_index/parent_prefix_path/stretch_web_teleop +[0.064s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/environment/ament_prefix_path.sh +[0.064s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/environment/ament_prefix_path.dsv +[0.065s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/environment/path.sh +[0.065s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/environment/path.dsv +[0.065s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.bash +[0.065s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.sh +[0.065s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.zsh +[0.065s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.dsv +[0.065s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.dsv +[0.065s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/ament_index/resource_index/packages/stretch_web_teleop +[0.065s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/cmake/stretch_web_teleopConfig.cmake +[0.065s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/cmake/stretch_web_teleopConfig-version.cmake +[0.065s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.xml +[0.065s] Invoked command in '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/hello-robot/ament_ws/install/tf2_web_republisher_py:/home/hello-robot/ament_ws/install/stretch_ros_tutorials:/home/hello-robot/ament_ws/install/stretch_funmap:/home/hello-robot/ament_ws/install/stretch_calibration:/home/hello-robot/ament_ws/install/stretch_demos:/home/hello-robot/ament_ws/install/stretch_deep_perception:/home/hello-robot/ament_ws/install/stretch_core:/home/hello-robot/ament_ws/install/respeaker_ros2:/home/hello-robot/ament_ws/install/hello_helpers:/opt/ros/humble /usr/bin/cmake --install /home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop diff --git a/log/latest b/log/latest new file mode 120000 index 00000000..b57d247c --- /dev/null +++ b/log/latest @@ -0,0 +1 @@ +latest_build \ No newline at end of file diff --git a/log/latest_build b/log/latest_build new file mode 120000 index 00000000..ca161b5b --- /dev/null +++ b/log/latest_build @@ -0,0 +1 @@ +build_2024-04-29_21-23-12 \ No newline at end of file From a1dc0f63776b1423f5d66174dabc8a3fe6617d81 Mon Sep 17 00:00:00 2001 From: Mohamed Fazil Date: Mon, 29 Apr 2024 23:09:04 -0700 Subject: [PATCH 3/5] remove misc --- install/.colcon_install_layout | 1 - install/COLCON_IGNORE | 0 install/_local_setup_util_ps1.py | 407 ------------------ install/_local_setup_util_sh.py | 407 ------------------ install/local_setup.bash | 121 ------ install/local_setup.ps1 | 55 --- install/local_setup.sh | 137 ------ install/local_setup.zsh | 134 ------ install/setup.bash | 34 -- install/setup.ps1 | 30 -- install/setup.sh | 49 --- install/setup.zsh | 34 -- .../configure_video_streams.py | 270 ------------ .../stretch_web_teleop/navigation_camera.py | 133 ------ .../stretch_web_teleop | 1 - .../packages/stretch_web_teleop | 0 .../parent_prefix_path/stretch_web_teleop | 1 - .../colcon-core/packages/stretch_web_teleop | 1 - .../stretch_web_teleop/certificates/.gitkeep | 0 .../certificates/rootCA-key.pem | 40 -- .../certificates/rootCA.pem | 29 -- .../certificates/stretch-se3-3031+6-key.pem | 28 -- .../certificates/stretch-se3-3031+6.pem | 28 -- .../stretch_web_teleopConfig-version.cmake | 14 - .../cmake/stretch_web_teleopConfig.cmake | 42 -- .../configure_video_streams_params.yaml | 92 ---- .../environment/ament_prefix_path.dsv | 1 - .../environment/ament_prefix_path.sh | 4 - .../stretch_web_teleop/environment/path.dsv | 1 - .../stretch_web_teleop/environment/path.sh | 5 - .../hook/cmake_prefix_path.dsv | 1 - .../hook/cmake_prefix_path.ps1 | 3 - .../hook/cmake_prefix_path.sh | 3 - .../launch/gripper_camera.launch.py | 37 -- .../launch/multi_camera.launch.py | 88 ---- .../launch/navigation_camera.launch.py | 38 -- .../launch/web_interface.launch.py | 314 -------------- .../share/stretch_web_teleop/local_setup.bash | 46 -- .../share/stretch_web_teleop/local_setup.dsv | 2 - .../share/stretch_web_teleop/local_setup.sh | 184 -------- .../share/stretch_web_teleop/local_setup.zsh | 59 --- .../share/stretch_web_teleop/maps/map.pgm | Bin 98960 -> 0 bytes .../share/stretch_web_teleop/maps/map.yaml | 9 - .../stretch_web_teleop/nodes/blank_image.png | Bin 4962 -> 0 bytes .../nodes/configure_video_streams.py | 270 ------------ .../nodes/gripper_camera.py | 130 ------ .../nodes/navigation_camera.py | 133 ------ .../nodes/old_navigation_camera.py | 103 ----- .../share/stretch_web_teleop/package.bash | 39 -- .../share/stretch_web_teleop/package.dsv | 8 - .../share/stretch_web_teleop/package.ps1 | 116 ----- .../share/stretch_web_teleop/package.sh | 87 ---- .../share/stretch_web_teleop/package.xml | 27 -- .../share/stretch_web_teleop/package.zsh | 50 --- log/COLCON_IGNORE | 0 log/build_2024-04-29_21-21-16/events.log | 78 ---- 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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 - # skip over comments - if line.startswith('#'): - 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) diff --git a/install/_local_setup_util_sh.py b/install/_local_setup_util_sh.py deleted file mode 100644 index ff311987..00000000 --- a/install/_local_setup_util_sh.py +++ /dev/null @@ -1,407 +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 - # skip over comments - if line.startswith('#'): - 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) diff --git a/install/local_setup.bash b/install/local_setup.bash deleted file mode 100644 index 03f00256..00000000 --- a/install/local_setup.bash +++ /dev/null @@ -1,121 +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" - _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_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 "$COLCON_TRACE" ]; then - echo "$(declare -f _colcon_prefix_sh_source_script)" - 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_bash_COLCON_CURRENT_PREFIX diff --git a/install/local_setup.ps1 b/install/local_setup.ps1 deleted file mode 100644 index 6f68c8de..00000000 --- a/install/local_setup.ps1 +++ /dev/null @@ -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) { - $_colcon_ordered_commands.Split([Environment]::NewLine, [StringSplitOptions]::RemoveEmptyEntries) | Invoke-Expression -} diff --git a/install/local_setup.sh b/install/local_setup.sh deleted file mode 100644 index 2727c2dc..00000000 --- a/install/local_setup.sh +++ /dev/null @@ -1,137 +0,0 @@ -# generated from colcon_core/shell/template/prefix.sh.em - -# This script extends the environment with all packages contained in this -# prefix path. - -# since a plain shell script can't determine its own path when being sourced -# either use the provided COLCON_CURRENT_PREFIX -# or fall back to the build time prefix (if it exists) -_colcon_prefix_sh_COLCON_CURRENT_PREFIX="/home/hello-robot/ament_ws/src/stretch_web_teleop/install" -if [ -z "$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 "${_colcon_ordered_commands}" -unset _colcon_ordered_commands - -unset _colcon_prefix_sh_source_script - -unset _colcon_prefix_sh_COLCON_CURRENT_PREFIX diff --git a/install/local_setup.zsh b/install/local_setup.zsh deleted file mode 100644 index b6487102..00000000 --- a/install/local_setup.zsh +++ /dev/null @@ -1,134 +0,0 @@ -# generated from colcon_zsh/shell/template/prefix.zsh.em - -# This script extends the environment with all packages contained in this -# prefix path. - -# a zsh script is able to determine its own path if necessary -if [ -z "$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" - _contained_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 - _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_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 "$COLCON_TRACE" ]; then - echo "$(declare -f _colcon_prefix_sh_source_script)" - 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_zsh_COLCON_CURRENT_PREFIX diff --git a/install/setup.bash b/install/setup.bash deleted file mode 100644 index 11b31f54..00000000 --- a/install/setup.bash +++ /dev/null @@ -1,34 +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" -# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script -COLCON_CURRENT_PREFIX="/home/hello-robot/ament_ws/install" -_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 diff --git a/install/setup.ps1 b/install/setup.ps1 deleted file mode 100644 index 55dc361a..00000000 --- a/install/setup.ps1 +++ /dev/null @@ -1,30 +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: '$_colcon_prefix_chain_powershell_source_script_param'" - } -} - -# source chained prefixes -_colcon_prefix_chain_powershell_source_script "/opt/ros/humble\local_setup.ps1" -_colcon_prefix_chain_powershell_source_script "/home/hello-robot/ament_ws/install\local_setup.ps1" - -# source this prefix -$env:COLCON_CURRENT_PREFIX=(Split-Path $PSCommandPath -Parent) -_colcon_prefix_chain_powershell_source_script "$env:COLCON_CURRENT_PREFIX\local_setup.ps1" diff --git a/install/setup.sh b/install/setup.sh deleted file mode 100644 index 8bda15d2..00000000 --- a/install/setup.sh +++ /dev/null @@ -1,49 +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/hello-robot/ament_ws/src/stretch_web_teleop/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" - -# setting COLCON_CURRENT_PREFIX avoids relying on the build time prefix of the sourced script -COLCON_CURRENT_PREFIX="/home/hello-robot/ament_ws/install" -_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 diff --git a/install/setup.zsh b/install/setup.zsh deleted file mode 100644 index d447b89b..00000000 --- a/install/setup.zsh +++ /dev/null @@ -1,34 +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" -# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script -COLCON_CURRENT_PREFIX="/home/hello-robot/ament_ws/install" -_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 diff --git a/install/stretch_web_teleop/lib/stretch_web_teleop/configure_video_streams.py b/install/stretch_web_teleop/lib/stretch_web_teleop/configure_video_streams.py deleted file mode 100755 index 2b2206e5..00000000 --- a/install/stretch_web_teleop/lib/stretch_web_teleop/configure_video_streams.py +++ /dev/null @@ -1,270 +0,0 @@ -#!/usr/bin/env python3 - -import rclpy -from rclpy.node import Node -from rclpy.duration import Duration -from rclpy.time import Time -import message_filters -import numpy as np -import cv2 -import yaml -import sys -import ros2_numpy -import tf2_ros -import pcl -import PyKDL -import math -# from tf2_sensor_msgs.tf2_sensor_msgs import do_transform_cloud -from sensor_msgs.msg import Image, CameraInfo, CompressedImage, PointCloud2, CameraInfo, JointState -from sensor_msgs_py.point_cloud2 import read_points, create_cloud -from cv_bridge import CvBridge -from visualization_msgs.msg import MarkerArray -from rclpy.qos import ReliabilityPolicy, QoSProfile -from rclpy.executors import MultiThreadedExecutor -from std_srvs.srv import SetBool - -class ConfigureVideoStreams(Node): - def __init__(self, params_file, has_beta_teleop_kit): - super().__init__('configure_video_streams') - - with open(params_file, 'r') as params: - self.image_params = yaml.safe_load(params) - - self.declare_parameter("has_beta_teleop_kit", rclpy.Parameter.Type.BOOL) - - self.tf_buffer = tf2_ros.Buffer(cache_time=Duration(seconds=12)) - self.tf2_listener = tf2_ros.TransformListener(self.tf_buffer, self) - - # Loaded params for each video stream - self.overhead_params = self.image_params["overhead"] if "overhead" in self.image_params else None - self.realsense_params = self.image_params["realsense"] if "realsense" in self.image_params else None - self.gripper_params = self.image_params["gripper"] if "gripper" in self.image_params else None - - # Stores all the images created using the loaded params - self.overhead_images = {} - self.realsense_images = {} - self.gripper_images = {} - - self.realsense_rgb_image = None - self.overhead_camera_rgb_image = None - self.gripper_camera_rgb_image = None - self.cv_bridge = CvBridge() - - # Compressed Image publishers - self.publisher_realsense_cmp = self.create_publisher(CompressedImage, '/camera/color/image_raw/rotated/compressed', 15) - self.publisher_overhead_cmp = self.create_publisher(CompressedImage, '/navigation_camera/image_raw/rotated/compressed', 15) - self.publisher_gripper_cmp = self.create_publisher(CompressedImage, '/gripper_camera/image_raw/cropped/compressed', 15) - - # Subscribers - self.camera_rgb_subscriber = message_filters.Subscriber(self, Image, "/camera/color/image_raw") - self.overhead_camera_rgb_subscriber = self.create_subscription(Image, "/navigation_camera/image_raw", self.navigation_camera_cb, QoSProfile(depth=1, reliability=ReliabilityPolicy.RELIABLE)) - self.gripper_camera_rgb_subscriber = self.create_subscription(Image, "/gripper_camera/image_raw", self.gripper_camera_cb, 1) - self.joint_state_subscription = self.create_subscription(JointState, "/stretch/joint_states", self.joint_state_cb, 1) - self.point_cloud_subscriber = message_filters.Subscriber(self, PointCloud2, "/camera/depth/color/points") - self.camera_info_subscriber = self.create_subscription(CameraInfo, "/camera/aligned_depth_to_color/camera_info", self.camera_info_cb, 1) - self.camera_synchronizer = message_filters.ApproximateTimeSynchronizer([ - self.camera_rgb_subscriber, - self.point_cloud_subscriber, - ], 1, 1, allow_headerless=True) - self.camera_synchronizer.registerCallback(self.realsense_cb) - - # Default image perspectives - # self.get_logger().info(f"wide_angle_cam={wide_angle_cam} d405={d405}") - self.overhead_camera_perspective = "fixed" if has_beta_teleop_kit else "wide_angle_cam" - self.realsense_camera_perspective = "default" - self.gripper_camera_perspective = "default" if has_beta_teleop_kit else "d405" - self.get_logger().info(self.gripper_camera_perspective) - - # Service for enabling the depth AR overlay on the realsense stream - self.depth_ar_service = self.create_service(SetBool, 'depth_ar', self.depth_ar_callback) - self.depth_ar = False - self.pcl_cloud_filtered = None - - self.roll_value = 0.0 - - # https://github.com/ros/geometry2/blob/noetic-devel/tf2_sensor_msgs/src/tf2_sensor_msgs/tf2_sensor_msgs.py#L44 - def transform_to_kdl(self, t): - return PyKDL.Frame(PyKDL.Rotation.Quaternion(t.transform.rotation.x, t.transform.rotation.y, - t.transform.rotation.z, t.transform.rotation.w), - PyKDL.Vector(t.transform.translation.x, - t.transform.translation.y, - t.transform.translation.z)) - - # https://github.com/ros/geometry2/blob/noetic-devel/tf2_sensor_msgs/src/tf2_sensor_msgs/tf2_sensor_msgs.py#L52 - def do_transform_cloud(self, cloud, transform): - t_kdl = self.transform_to_kdl(transform) - points_out = [] - points = cloud.to_array() - for p_in in points: - p_out = t_kdl * PyKDL.Vector(p_in[0], p_in[1], p_in[2]) - points_out.append([p_out[0], p_out[1], p_out[2]]) - return np.array(points_out) - - def camera_info_cb(self, msg): - self.P = np.array(msg.p).reshape(3,4) - # self.camera_info_subscriber.destroy() - - def pc_callback(self, msg, img): - pc_in_camera = ros2_numpy.point_cloud2.pointcloud2_to_xyz_array(msg) - pcl_cloud = pcl.PointCloud(np.array(pc_in_camera, dtype=np.float32)) - passthrough = pcl_cloud.make_passthrough_filter() - passthrough.set_filter_field_name("z") - passthrough.set_filter_limits(0.01, 1.5) - self.pcl_cloud_filtered = passthrough.filter() - - # Get transform - try: - transform = self.tf_buffer.lookup_transform( - 'base_link', - 'camera_color_optical_frame', - Time(), - timeout=Duration(seconds=0.1) - ) - except: - self.get_logger().warn("Could not find the transform between frames {} and {}".format('base_link', 'camera_color_optical_frame')) - return img - - if not self.pcl_cloud_filtered: return img - if self.pcl_cloud_filtered.to_array().size == 0: return img - - # Transform points cloud to base link and points that are in robot's reach - pc_in_base_link = self.do_transform_cloud(self.pcl_cloud_filtered, transform) - # pc_in_base_link = ros2_numpy.point_cloud2.pointcloud2_to_xyz_array(pc_in_base_link_msg) - dist = np.sqrt(np.power(pc_in_base_link[:,0], 2) + np.power(pc_in_base_link[:,1], 2)) - filtered_indices = np.where((dist > 0.25) & (dist < 1))[0] - - # Get filtered points in camera frame - # pc_in_camera = ros2_numpy.point_cloud2.pointcloud2_to_xyz_array(msg) # N x 3 - pts_in_range = self.pcl_cloud_filtered.to_array()[filtered_indices, :] - pts_in_range = np.hstack((pts_in_range, np.ones((pts_in_range.shape[0],1)))) - - # Get pixel coordinates - coords = np.matmul(self.P, np.transpose(pts_in_range)) # 3 x N - x_idx = np.absolute((coords[0,:]/coords[2,:]).astype(int)) - y_idx = np.absolute((coords[1,:]/coords[2,:]).astype(int)) - # negative_indices = np.where((x_idx < 0) or (y_idx < 0)) - - # Change color of pixels in robot's reach - if img is not None: - img[x_idx, img.shape[1] - 1 - y_idx, :] = [255, 191, 0, 50] - # img[y_idx, x_idx, 3] = 0 - - return img - - def depth_ar_callback(self, req, res): - self.depth_ar = req.data - res.success = True - return res - - def crop_image(self, image, params): - if params["x_min"] is None: raise ValueError("Crop x_min is not defined!") - if params["x_max"] is None: raise ValueError("Crop x_max is not defined!") - if params["y_min"] is None: raise ValueError("Crop y_min is not defined!") - if params["y_max"] is None: raise ValueError("Crop y_max is not defined!") - - x_min = params["x_min"] - x_max = params["x_max"] - y_min = params["y_min"] - y_max = params["y_max"] - - return image[x_min:x_max, y_min:y_max] - - # https://stackoverflow.com/questions/44865023/how-can-i-create-a-circular-mask-for-a-numpy-array - def create_circular_mask(self, h, w, center=None, radius=None): - if center is None: # use the middle of the image - center = (int(w/2), int(h/2)) - if radius is None: # use the smallest distance between the center and image walls - radius = min(center[0], center[1], w-center[0], h-center[1]) - - Y, X = np.ogrid[:h, :w] - dist_from_center = np.sqrt((X - center[0])**2 + (Y-center[1])**2) - - mask = dist_from_center <= radius - return mask - - def mask_image(self, image, params): - if params["width"] is None: raise ValueError("Mask width is not defined!") - if params["height"] is None: raise ValueError("Mask height is not defined!") - - w = params["width"] - h = params["height"] - center = (params["center"]["x"], params["center"]["y"]) if params["center"] else None - radius = params["radius"] - - mask = self.create_circular_mask(h, w, center, radius) - img = image.copy() - img[~mask] = 200 - return img - - def rotate_image(self, image, value): - if value == 'ROTATE_90_CLOCKWISE': - return cv2.rotate(image, cv2.ROTATE_90_CLOCKWISE) - elif value == "ROTATE_180": - return cv2.rotate(image, cv2.ROTATE_180) - elif value == "ROTATE_90_COUNTERCLOCKWISE": - return cv2.rotate(image, cv2.ROTATE_90_COUNTERCLOCKWISE) - else: - raise ValueError("Invalid rotate image value: options are ROTATE_90_CLOCKWISE, ROTATE_180, or ROTATE_90_COUNTERCLOCKWISE") - - def configure_images(self, rgb_image, params): - # if rgb_image.shape[-1] == 2: - # rgb_image = cv2.cvtColor(rgb_image, cv2.COLOR_YUV2RGB_YVYU) - # else: - - rgb_image = cv2.cvtColor(rgb_image, cv2.COLOR_BGR2RGB) - if params: - if params['crop']: - rgb_image = self.crop_image(rgb_image, params['crop']) - if params['mask']: - rgb_image = self.mask_image(rgb_image, params['mask']) - if params['rotate']: - rgb_image = self.rotate_image(rgb_image, params['rotate']) - return rgb_image - - def realsense_cb(self, ros_image, pc): - image = self.cv_bridge.imgmsg_to_cv2(ros_image) - for image_config_name in self.realsense_params: - img = self.configure_images(image, self.realsense_params[image_config_name]) - img = cv2.cvtColor(img, cv2.COLOR_RGB2RGBA) - if self.depth_ar: img = self.pc_callback(pc, img) - # if self.aruco_markers: img = self.aruco_markers_callback(marker_msg, img) - self.realsense_images[image_config_name] = img - - self.realsense_rgb_image = self.realsense_images[self.realsense_camera_perspective] - self.publish_compressed_msg(self.realsense_rgb_image, self.publisher_realsense_cmp) - - def gripper_camera_cb(self, ros_image): - image = self.cv_bridge.imgmsg_to_cv2(ros_image, 'rgb8') - img = self.rotate_image_around_center(image, -1*self.roll_value) - self.gripper_camera_rgb_image = self.configure_images(img, self.gripper_params[self.gripper_camera_perspective]) - self.publish_compressed_msg(self.gripper_camera_rgb_image, self.publisher_gripper_cmp) - - def navigation_camera_cb(self, ros_image): - image = self.cv_bridge.imgmsg_to_cv2(ros_image, 'rgb8') - self.overhead_camera_rgb_image = self.configure_images(image, self.overhead_params[self.overhead_camera_perspective]) - self.publish_compressed_msg(self.overhead_camera_rgb_image, self.publisher_overhead_cmp) - - def rotate_image_around_center(self, image, angle): - image_center = tuple(np.array(image.shape[1::-1]) / 2) - rot_mat = cv2.getRotationMatrix2D(image_center, math.degrees(angle), 1.0) - result = cv2.warpAffine(image, rot_mat, image.shape[1::-1], flags=cv2.INTER_LINEAR) - return result - - def joint_state_cb(self, joint_state): - if 'joint_wrist_roll' in joint_state.name: - roll_index = joint_state.name.index('joint_wrist_roll') - self.roll_value = joint_state.position[roll_index] - - def publish_compressed_msg(self, image, publisher): - msg = CompressedImage() - msg.header.stamp = self.get_clock().now().to_msg() - msg.format = "jpeg" - msg.data = np.array(cv2.imencode('.jpg', image)[1]).tobytes() - publisher.publish(msg) - -if __name__ == '__main__': - rclpy.init() - print(sys.argv) - node = ConfigureVideoStreams(sys.argv[1], sys.argv[2] == "True") - print("Publishing reconfigured video stream") - rclpy.spin(node) diff --git a/install/stretch_web_teleop/lib/stretch_web_teleop/navigation_camera.py b/install/stretch_web_teleop/lib/stretch_web_teleop/navigation_camera.py deleted file mode 100755 index 2db441c7..00000000 --- a/install/stretch_web_teleop/lib/stretch_web_teleop/navigation_camera.py +++ /dev/null @@ -1,133 +0,0 @@ -#! /usr/bin/env python3 - - -# my_image_publisher/my_image_publisher/publisher_node.py - -import cv2 -from sensor_msgs.msg import Image -from cv_bridge import CvBridge -import rclpy -from rclpy.node import Node -import threading -from rclpy.executors import MultiThreadedExecutor -import os - -UVC_COLOR_SIZE = [1280, 800] # [3840,2880] [1920, 1080] [1280, 720] [1280, 800] [640, 480] -UVC_FPS = 100 - -UVC_VIDEO_INDEX = '/dev/hello-nav-head-camera' -UVC_VIDEO_FORMAT = 'MJPG' # MJPG YUYV - -UVC_BRIGHTNESS = 10 # brightness 0x00980900 (int) : min=-64 max=64 step=1 default=0 value=0 -UVC_CONTRAST = 30 # contrast 0x00980901 (int) : min=0 max=64 step=1 default=32 value=32 -UVC_SATURATION = 80 # saturation 0x00980902 (int) : min=0 max=128 step=1 default=90 value=90 -UVC_HUE = 0 # hue 0x00980903 (int) : min=-40 max=40 step=1 default=0 value=0 -UVC_GAMMA = 80 # gamma 0x00980910 (int) : min=72 max=500 step=1 default=100 value=100 -UVC_GAIN = 10 # gain 0x00980913 (int) : min=0 max=100 step=1 default=0 value=0 -UVC_WB_TEMP = 4600 # white_balance_temperature 0x0098091a (int) : min=2800 max=6500 step=1 default=4600 value=4600 flags=inactive -UVC_SHARPNESS = 3 # sharpness 0x0098091b (int) : min=0 max=6 step=1 default=3 value=3 -UVC_BACKLIT_COMP = 1 # backlight_compensation 0x0098091c (int) : min=0 max=2 step=1 default=1 value=1 -UVC_EXPOSURE_TIME = 157 # exposure_time_absolute 0x009a0902 (int) : min=1 max=5000 step=1 default=157 value=157 flags=inactive - -# More UVC Video capture properties here: -# https://docs.opencv.org/3.4/d4/d15/group__videoio__flags__base.html -# -# Arducam wiki info site -# https://docs.arducam.com/UVC-Camera/Appilcation-Note/OpenCV-Python-GStreamer-on-linux/ -# -# Setting Video formates using v4l2 -# http://trac.gateworks.com/wiki/linux/v4l2 -# -# - - -def setup_uvc_camera(device_index, size, fps): - cap = cv2.VideoCapture(device_index) - cap.set(cv2.CAP_PROP_FRAME_WIDTH, size[0]) - cap.set(cv2.CAP_PROP_FRAME_HEIGHT, size[1]) - cap.set(cv2.CAP_PROP_FPS, fps) - return cap - - - -UVC_SETTINGS = {'brightness':UVC_BRIGHTNESS, - 'contrast':UVC_CONTRAST, - 'hue':UVC_HUE, - 'gamma':UVC_GAMMA, - 'gain':UVC_GAIN, - 'white_balance_temperature':UVC_WB_TEMP, - 'sharpness':UVC_SHARPNESS, - 'backlight_compensation':UVC_BACKLIT_COMP, - 'exposure_time_absolute':UVC_EXPOSURE_TIME} - -# Set video format and size -cmd = f"v4l2-ctl --device {UVC_VIDEO_INDEX} --set-fmt-video=width={UVC_COLOR_SIZE[0]},height={UVC_COLOR_SIZE[1]}" -os.system(cmd) - -# Set UVC SettingsNone -for k in list(UVC_SETTINGS.keys()): - cmd = f"v4l2-ctl --device {UVC_VIDEO_INDEX} --set-ctrl={k}={UVC_SETTINGS[k]}" - os.system(cmd) - - - - -class ImagePublisherNode(Node): - def __init__(self): - super().__init__('image_publisher_node') - self.publisher = self.create_publisher(Image, '/navigation_camera/image_raw', 15) - timer_period = 0.001 # seconds - self.timer = self.create_timer(timer_period, self.timer_callback) - self.timer2 = self.create_timer(timer_period, self.timer_callback2) - self.cv_bridge = CvBridge() - self.uvc_camera = setup_uvc_camera(UVC_VIDEO_INDEX, UVC_COLOR_SIZE, UVC_FPS) - self.image_msg = None - # self.uvc_camera_thread = threading.Thread(target=self.stream_camera) - # self.uvc_camera_thread.start() - - # def stream_camera(self): - # print("Starting Image Stream") - # while True: - # # Capture an image using OpenCV - # try: - # ret, image_uvc = self.uvc_camera.read() - # # Convert the OpenCV image to a ROS Image message - # self.image_msg = self.cv_bridge.cv2_to_imgmsg(image_uvc, encoding='bgr8') - # print("Updated") - # except Exception as e: - # print(f"Error UVC Cam: {e}") - - def timer_callback(self): - # Publish the image message - if self.image_msg is not None: - # print("Published") - self.publisher.publish(self.image_msg) - - def timer_callback2(self): - try: - ret, image_uvc = self.uvc_camera.read() - # Convert the OpenCV image to a ROS Image message - self.image_msg = self.cv_bridge.cv2_to_imgmsg(image_uvc, encoding='bgr8') - # print("Updated") - except Exception as e: - print(f"Error UVC Cam: {e}") - - - -def main(args=None): - rclpy.init(args=args) - - image_publisher_node = ImagePublisherNode() - - executor = MultiThreadedExecutor() - executor.add_node(image_publisher_node) - try: - rclpy.spin(image_publisher_node, executor) - except KeyboardInterrupt: - pass - finally: - image_publisher_node.destroy_node() - rclpy.shutdown() - -if __name__ == '__main__': - main() diff --git a/install/stretch_web_teleop/share/ament_index/resource_index/package_run_dependencies/stretch_web_teleop b/install/stretch_web_teleop/share/ament_index/resource_index/package_run_dependencies/stretch_web_teleop deleted file mode 100644 index 30bcc1dc..00000000 --- a/install/stretch_web_teleop/share/ament_index/resource_index/package_run_dependencies/stretch_web_teleop +++ /dev/null @@ -1 +0,0 @@ -rosbridge_server;imu_filter_madgwick;usb_cam;tf2_sensor_msgs;cv_bridge;compressed_image_transport;pcl_ros;image_publisher \ No newline at end of file diff --git a/install/stretch_web_teleop/share/ament_index/resource_index/packages/stretch_web_teleop b/install/stretch_web_teleop/share/ament_index/resource_index/packages/stretch_web_teleop deleted file mode 100644 index e69de29b..00000000 diff --git a/install/stretch_web_teleop/share/ament_index/resource_index/parent_prefix_path/stretch_web_teleop b/install/stretch_web_teleop/share/ament_index/resource_index/parent_prefix_path/stretch_web_teleop deleted file mode 100644 index 370c1e88..00000000 --- a/install/stretch_web_teleop/share/ament_index/resource_index/parent_prefix_path/stretch_web_teleop +++ /dev/null @@ -1 +0,0 @@ -/home/hello-robot/ament_ws/install/tf2_web_republisher_py:/home/hello-robot/ament_ws/install/tf2_web_republisher:/home/hello-robot/ament_ws/install/stretch_web_teleop:/home/hello-robot/ament_ws/install/stretch_rtabmap:/home/hello-robot/ament_ws/install/stretch_ros_tutorials:/home/hello-robot/ament_ws/install/stretch_nav2:/home/hello-robot/ament_ws/install/stretch_funmap:/home/hello-robot/ament_ws/install/stretch_calibration:/home/hello-robot/ament_ws/install/stretch_description:/home/hello-robot/ament_ws/install/stretch_demos:/home/hello-robot/ament_ws/install/stretch_deep_perception:/home/hello-robot/ament_ws/install/stretch_core:/home/hello-robot/ament_ws/install/respeaker_ros2:/home/hello-robot/ament_ws/install/speech_recognition_msgs:/home/hello-robot/ament_ws/install/sound_play_msgs:/home/hello-robot/ament_ws/install/audio_common:/home/hello-robot/ament_ws/install/sound_play:/home/hello-robot/ament_ws/install/sllidar_ros2:/home/hello-robot/ament_ws/install/rosbridge_test_msgs:/home/hello-robot/ament_ws/install/rosbridge_suite:/home/hello-robot/ament_ws/install/rosbridge_server:/home/hello-robot/ament_ws/install/rosbridge_msgs:/home/hello-robot/ament_ws/install/rosapi:/home/hello-robot/ament_ws/install/rosbridge_library:/home/hello-robot/ament_ws/install/rosapi_msgs:/home/hello-robot/ament_ws/install/ros2_numpy:/home/hello-robot/ament_ws/install/realsense2_description:/home/hello-robot/ament_ws/install/realsense2_camera:/home/hello-robot/ament_ws/install/realsense2_camera_msgs:/home/hello-robot/ament_ws/install/hello_helpers:/home/hello-robot/ament_ws/install/audio_play:/home/hello-robot/ament_ws/install/audio_capture:/home/hello-robot/ament_ws/install/audio_common_msgs:/opt/ros/humble \ No newline at end of file diff --git a/install/stretch_web_teleop/share/colcon-core/packages/stretch_web_teleop b/install/stretch_web_teleop/share/colcon-core/packages/stretch_web_teleop deleted file mode 100644 index 330bdd07..00000000 --- a/install/stretch_web_teleop/share/colcon-core/packages/stretch_web_teleop +++ /dev/null @@ -1 +0,0 @@ -compressed_image_transport:cv_bridge:image_publisher:imu_filter_madgwick:pcl_ros:rosbridge_server:tf2_sensor_msgs:usb_cam \ No newline at end of file diff --git a/install/stretch_web_teleop/share/stretch_web_teleop/certificates/.gitkeep b/install/stretch_web_teleop/share/stretch_web_teleop/certificates/.gitkeep deleted file mode 100644 index e69de29b..00000000 diff --git a/install/stretch_web_teleop/share/stretch_web_teleop/certificates/rootCA-key.pem b/install/stretch_web_teleop/share/stretch_web_teleop/certificates/rootCA-key.pem deleted file mode 100644 index 209b8061..00000000 --- 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CERTIFICATE----- -MIIFBzCCA2+gAwIBAgIQYy5uHHFP7mM2VNDzI4cRkTANBgkqhkiG9w0BAQsFADCB -mzEeMBwGA1UEChMVbWtjZXJ0IGRldmVsb3BtZW50IENBMTgwNgYDVQQLDC9oZWxs -by1yb2JvdEBzdHJldGNoLXNlMy0zMDMxIChIZWxsbyBSb2JvdCBJbmMuKTE/MD0G -A1UEAww2bWtjZXJ0IGhlbGxvLXJvYm90QHN0cmV0Y2gtc2UzLTMwMzEgKEhlbGxv -IFJvYm90IEluYy4pMB4XDTI0MDQzMDA0MDcyMloXDTM0MDQzMDA0MDcyMlowgZsx -HjAcBgNVBAoTFW1rY2VydCBkZXZlbG9wbWVudCBDQTE4MDYGA1UECwwvaGVsbG8t -cm9ib3RAc3RyZXRjaC1zZTMtMzAzMSAoSGVsbG8gUm9ib3QgSW5jLikxPzA9BgNV -BAMMNm1rY2VydCBoZWxsby1yb2JvdEBzdHJldGNoLXNlMy0zMDMxIChIZWxsbyBS -b2JvdCBJbmMuKTCCAaIwDQYJKoZIhvcNAQEBBQADggGPADCCAYoCggGBALL8aWXA -DY/jqScOHSLhU/G1HYTajXAQYX1E6dEaqAX/NEUcLmrAlcNnT9fAR/MftAEJPXJa -b1w87OYt1/F92f96Z9wY/G32AaBmvmKJJcIO8zR7m3Tlce4Dpy8nv0ZjsNWjWor6 -Bta58L9RmE1ZbxVI2AkWViFIvbhy+PxJbpCuaHgTYaV+H6McEQCQAlpcSDV+2M+D -jgE2WfLUK7WYUQ1Re+zz/15ntm4UwxXkgi3yGMtrqO+kaFYmTyMi+6+QcMU7jdm+ -jA9FKTbZIygfZNLMRKpJ0ncnlLmpx6emWCkH2reN/1oQ++0odBzUDxyzn99TSpVU 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b/install/stretch_web_teleop/share/stretch_web_teleop/certificates/stretch-se3-3031+6-key.pem deleted file mode 100644 index a47f58cf..00000000 --- a/install/stretch_web_teleop/share/stretch_web_teleop/certificates/stretch-se3-3031+6-key.pem +++ /dev/null @@ -1,28 +0,0 @@ ------BEGIN PRIVATE KEY----- -MIIEvAIBADANBgkqhkiG9w0BAQEFAASCBKYwggSiAgEAAoIBAQDDT8hCECEc7H3m -8Lw21bCPki2b+n6XuDdDE3e2fFTfjfobalD2s2H5E8pi3cVpgK0UUU3vbep/G99u -WevNKXPUP1QjApeRrFYZvWyum2UvKjO29WT+1/KS0/4UvYXdfjLW196IsNaxL+1t -tc3br2MwbASXpsVxylQVTMzU+wQiCYpIlSGrJ7PZgY77ova1IZ504zuHHU0qarwl -neXkbLKkt9+9GPTKOloelVhOk7iYUnsDL/92vTVpOODnT7/Wn566LQEtj4VKBHhi -tX6AebvPHNmd2FC6rNzVl2ukvRZYFp2OpmuIFvXMQwNTJqjPWe3ZFFe3zZutgiyT -jZuAkjGnAgMBAAECggEAHljcLd+htYPNgD+xjvefCn/VFGJUnzBhbcutky44ZdAC -p5XaZKq0s2Xu0XPSA7WZrwl/CY/TmtJy4guYxvUE6Vq5sQLrGBhl/HPhWjQNAcoV -5Py2J57YMxY7aW+VSDgeoCFEk4qeoUNoKd7Q0Kysxc5S3FluXmLos7KONR2Xo83/ -+8g9G8i+f52XYJzppqMeIn56x7vcQhBu7QLwVeHjFmMAxnQBjPw2a3mM3Tsffr5K -B8RvBNXz4dGEWji2Ub2kZV8Q/hhl6CAVInFvUMD1dkSwFTGCVQ1/9NbgWasDuhjy -v0IDP9Ny43m6R3SZ6Zbs/V1v7RNbYypiB7iLnLTAEQKBgQDxhJVKvRailm8NVJr9 -LqgIeGLi/h9NxoTVLqORtbVvyoAOjq30mCe0hzMe6P3N2sm6hQ1j5WCWyoM62ci4 -36T1dAhflz3AegxLc3IAcOB/1lHjjW8K2JQDAq8ClLCyul0eNoCoPlV7FibjTNYz -8Ur4YzFN3pglni3kpw0N2ea1LwKBgQDPBekkFXbz1te0TeccNF+sHoZ/jAScEHDz -kuYu2qreL2o+ZyOg3Xue/MYYvtucm9oitomchDBuQagYCzzzi5uAzGD1OUREwvJ8 -xA8U68RrVGyTuDsHBOuMaNJOwKwkvQHA53OCB2TYiRgIkIL0EhooHDO0iSf5enTO -nvsz5SidCQKBgDz1Bq03bmgY6eyGZxvx061XnTXHh+UcbthTjisvnpyZkpqZ/mPW -p2bUHN33Vl/HkdTG0itdcHR+poKLBzNKFxtwbtCZnpde9o1wlNxxoOgDEuYJA3bM -VQcxfTR8jOB/UxNWFEDigravT59c/E9d3ls0xfPuc55C/zhPxWaykZ03AoGASMPA -FWHCBKS//mzfTYePFRVJmu0g9aXFvaclZtSO+DdcNYDVAga3G8Om8S2sTRhujILy -TWQdDbPgHEte6g9o4dV0Qt0VBMIsrvPOhUD1MfBjlWxMuwPcsuZo/Ss1llgklKQF -cm+c34sYOnJoxNbUAMMg3VTUCxkikzlH/A6QvtkCgYAqfFW7f/PqEBMfhndmhiSG -z/W29YKFhr9SoJwothhC5Mp+G5Q4cwk5jAe153Z+AVPva+9ODP7gmVR12122q+n5 -uQPU6Tk0kKP6snRx9HSRHH/HYBUlGW3aLOadtGT7gMx6F5UjWbO6g7Y6YIaR2mqk -ZzthO3w5LB/U4wa6Xj510w== ------END PRIVATE KEY----- diff --git a/install/stretch_web_teleop/share/stretch_web_teleop/certificates/stretch-se3-3031+6.pem b/install/stretch_web_teleop/share/stretch_web_teleop/certificates/stretch-se3-3031+6.pem deleted file mode 100644 index ac95dd3b..00000000 --- a/install/stretch_web_teleop/share/stretch_web_teleop/certificates/stretch-se3-3031+6.pem +++ /dev/null @@ -1,28 +0,0 @@ ------BEGIN CERTIFICATE----- -MIIExzCCAy+gAwIBAgIQVIU9wgO3EZKhYEURnNkqrjANBgkqhkiG9w0BAQsFADCB -mzEeMBwGA1UEChMVbWtjZXJ0IGRldmVsb3BtZW50IENBMTgwNgYDVQQLDC9oZWxs -by1yb2JvdEBzdHJldGNoLXNlMy0zMDMxIChIZWxsbyBSb2JvdCBJbmMuKTE/MD0G -A1UEAww2bWtjZXJ0IGhlbGxvLXJvYm90QHN0cmV0Y2gtc2UzLTMwMzEgKEhlbGxv -IFJvYm90IEluYy4pMB4XDTI0MDQzMDA0MDcyM1oXDTI2MDczMDA0MDcyM1owYzEn -MCUGA1UEChMebWtjZXJ0IGRldmVsb3BtZW50IGNlcnRpZmljYXRlMTgwNgYDVQQL -DC9oZWxsby1yb2JvdEBzdHJldGNoLXNlMy0zMDMxIChIZWxsbyBSb2JvdCBJbmMu -KTCCASIwDQYJKoZIhvcNAQEBBQADggEPADCCAQoCggEBAMNPyEIQIRzsfebwvDbV -sI+SLZv6fpe4N0MTd7Z8VN+N+htqUPazYfkTymLdxWmArRRRTe9t6n8b325Z680p -c9Q/VCMCl5GsVhm9bK6bZS8qM7b1ZP7X8pLT/hS9hd1+MtbX3oiw1rEv7W21zduv -YzBsBJemxXHKVBVMzNT7BCIJikiVIasns9mBjvui9rUhnnTjO4cdTSpqvCWd5eRs -sqS3370Y9Mo6Wh6VWE6TuJhSewMv/3a9NWk44OdPv9afnrotAS2PhUoEeGK1foB5 -u88c2Z3YULqs3NWXa6S9FlgWnY6ma4gW9cxDA1MmqM9Z7dkUV7fNm62CLJONm4CS -MacCAwEAAaOBvTCBujAOBgNVHQ8BAf8EBAMCBaAwEwYDVR0lBAwwCgYIKwYBBQUH -AwEwHwYDVR0jBBgwFoAU7yU3hS18RnklvO3LbyFyLffmp2IwcgYDVR0RBGswaYIQ -c3RyZXRjaC1zZTMtMzAzMYIWc3RyZXRjaC1zZTMtMzAzMS5sb2NhbIIUc3RyZXRj -aC1zZTMtMzAzMS5kZXaCCWxvY2FsaG9zdIcEfwAAAYcEAAAAAIcQAAAAAAAAAAAA -AAAAAAAAATANBgkqhkiG9w0BAQsFAAOCAYEAri66WVvLlug5AVYoMd9UIonVzgqO -JW4ypZazRJxPQ14LaCFbtZjpnUx92jH4fdG947g9gmcUwhpVmeb9tCo9+mhzNp4y -g0FGovVRh/IF/C4uTuB4g4hVYXrVEfxdawUagzn1EYTzM/oMuBvz5gmZEFa9U8DQ -d9BhyLTRsshG3QVnNkraADt+BKaVkKnpqBxhATzpYf9GO0cb1pdA5df0sq0d9jPb -ssann7WcsScrVMwl6+lmsyfTJKrrPn8hN9iwzEs7KxgECPE5kOJJ1t1QDV4ZwqDw -KD3RR47LCyFRT9szh3Megs1JNOYEiaV0XIAIfvNFjjWTSSpPC4cDZvNu6gQHb3+b -drEVdMxvFOzfbDH3clALsAEST+y7n65ZID0uhIGkCgxqDk82cSonDeJ1muoyWMmO -c4hC16LjOvDi8o6WI+3XTL/cDY5El6cuxUZZ+3/RNkwFS0Qm4/98Sk01H97DUKGY -xHjzVe2SEbETdHcVxFGueVD6NotV1BAIfMR/ ------END CERTIFICATE----- diff --git a/install/stretch_web_teleop/share/stretch_web_teleop/cmake/stretch_web_teleopConfig-version.cmake b/install/stretch_web_teleop/share/stretch_web_teleop/cmake/stretch_web_teleopConfig-version.cmake deleted file mode 100644 index dfe07300..00000000 --- a/install/stretch_web_teleop/share/stretch_web_teleop/cmake/stretch_web_teleopConfig-version.cmake +++ /dev/null @@ -1,14 +0,0 @@ -# generated from ament/cmake/core/templates/nameConfig-version.cmake.in -set(PACKAGE_VERSION "0.1.0") - -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/install/stretch_web_teleop/share/stretch_web_teleop/cmake/stretch_web_teleopConfig.cmake b/install/stretch_web_teleop/share/stretch_web_teleop/cmake/stretch_web_teleopConfig.cmake deleted file mode 100644 index d447ad46..00000000 --- a/install/stretch_web_teleop/share/stretch_web_teleop/cmake/stretch_web_teleopConfig.cmake +++ /dev/null @@ -1,42 +0,0 @@ -# generated from ament/cmake/core/templates/nameConfig.cmake.in - -# prevent multiple inclusion -if(_stretch_web_teleop_CONFIG_INCLUDED) - # ensure to keep the found flag the same - if(NOT DEFINED stretch_web_teleop_FOUND) - # explicitly set it to FALSE, otherwise CMake will set it to TRUE - set(stretch_web_teleop_FOUND FALSE) - elseif(NOT stretch_web_teleop_FOUND) - # use separate condition to avoid uninitialized variable warning - set(stretch_web_teleop_FOUND FALSE) - endif() - return() -endif() -set(_stretch_web_teleop_CONFIG_INCLUDED TRUE) - -# output package information -if(NOT stretch_web_teleop_FIND_QUIETLY) - message(STATUS "Found stretch_web_teleop: 0.1.0 (${stretch_web_teleop_DIR})") -endif() - -# warn when using a deprecated package -if(NOT "" STREQUAL "") - set(_msg "Package 'stretch_web_teleop' is deprecated") - # append custom deprecation text if available - if(NOT "" STREQUAL "TRUE") - set(_msg "${_msg} ()") - endif() - # optionally quiet the deprecation message - if(NOT ${stretch_web_teleop_DEPRECATED_QUIET}) - message(DEPRECATION "${_msg}") - endif() -endif() - -# flag package as ament-based to distinguish it after being find_package()-ed -set(stretch_web_teleop_FOUND_AMENT_PACKAGE TRUE) - -# include all config extra files -set(_extras "") -foreach(_extra ${_extras}) - include("${stretch_web_teleop_DIR}/${_extra}") -endforeach() diff --git a/install/stretch_web_teleop/share/stretch_web_teleop/config/configure_video_streams_params.yaml b/install/stretch_web_teleop/share/stretch_web_teleop/config/configure_video_streams_params.yaml deleted file mode 100644 index 655ee328..00000000 --- a/install/stretch_web_teleop/share/stretch_web_teleop/config/configure_video_streams_params.yaml +++ /dev/null @@ -1,92 +0,0 @@ -{ - # Images published to /navigation_camera/image_raw - # Image size is 768 x 1024 - "overhead": { - "fixed": { - # The mask contain params to make a circular mask over the image - # Pass "mask": null to not create mask - "mask": { - "width": 768, - "height": 768, - "radius": null, - "center": null # Pass "center": {"x": __, "y": __} to define center - }, - # The crop contain params to crop the image - # x_max - x_min = mask_width and y_max - y_min = mask_height - # Pass "crop": null to not crop image - "crop": { - "x_min": 0, - "x_max": 768, - "y_min": 128, - "y_max": 896 - }, - # Number of degress to rotate video stream clockwise - # Pass "rotate": null to not rotate - "rotate": null, - }, - "wide_angle_cam": { - # The mask contain params to make a circular mask over the image - # Pass "mask": null to not create mask - "mask": null, - # The crop contain params to crop the image - # x_max - x_min = mask_width and y_max - y_min = mask_height - # Pass "crop": null to not crop image - "crop": null, - # Number of degress to rotate video stream clockwise - # Pass "rotate": null to not rotate - # "rotate": null, - "rotate": 'ROTATE_90_COUNTERCLOCKWISE' - } - }, - "realsense": { - "default": { - "mask": null, - "crop": null, - "rotate": 'ROTATE_90_CLOCKWISE' - } - }, - # Images published to /gripper_camera/image_raw - # Image size is 768 x 1024 - "gripper": { - "default": { - # The mask contain params to make a circular mask over the image - # Pass "mask": null to not create mask - "mask": { - "width": 768, - "height": 768, - "radius": null, - "center": null - }, - # The crop contain params to crop the image - # x_max - x_min = mask_width and y_max - y_min = mask_height - # Pass "crop": null to not crop image - "crop": { - "x_min": 0, - "x_max": 768, - "y_min": 128, - "y_max": 896 - }, - "rotate": null - }, - "d405": { - # The mask contain params to make a circular mask over the image - # Pass "mask": null to not create mask - "mask": { - "width": 270, - "height": 270, - "radius": null, - "center": null - }, - # The crop contain params to crop the image - # x_max - x_min = mask_width and y_max - y_min = mask_height - # Pass "crop": null to not crop image - "crop": { - "y_min": 125, - "y_max": 395, - "x_min": 0, - "x_max": 270 - }, - "rotate": null - }, - }, -} diff --git a/install/stretch_web_teleop/share/stretch_web_teleop/environment/ament_prefix_path.dsv b/install/stretch_web_teleop/share/stretch_web_teleop/environment/ament_prefix_path.dsv deleted file mode 100644 index 79d4c95b..00000000 --- a/install/stretch_web_teleop/share/stretch_web_teleop/environment/ament_prefix_path.dsv +++ /dev/null @@ -1 +0,0 @@ -prepend-non-duplicate;AMENT_PREFIX_PATH; diff --git a/install/stretch_web_teleop/share/stretch_web_teleop/environment/ament_prefix_path.sh b/install/stretch_web_teleop/share/stretch_web_teleop/environment/ament_prefix_path.sh deleted file mode 100644 index 02e441b7..00000000 --- a/install/stretch_web_teleop/share/stretch_web_teleop/environment/ament_prefix_path.sh +++ /dev/null @@ -1,4 +0,0 @@ -# copied from -# ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh - -ament_prepend_unique_value AMENT_PREFIX_PATH "$AMENT_CURRENT_PREFIX" diff --git a/install/stretch_web_teleop/share/stretch_web_teleop/environment/path.dsv b/install/stretch_web_teleop/share/stretch_web_teleop/environment/path.dsv deleted file mode 100644 index b94426af..00000000 --- a/install/stretch_web_teleop/share/stretch_web_teleop/environment/path.dsv +++ /dev/null @@ -1 +0,0 @@ -prepend-non-duplicate-if-exists;PATH;bin diff --git a/install/stretch_web_teleop/share/stretch_web_teleop/environment/path.sh b/install/stretch_web_teleop/share/stretch_web_teleop/environment/path.sh deleted file mode 100644 index e59b749a..00000000 --- a/install/stretch_web_teleop/share/stretch_web_teleop/environment/path.sh +++ /dev/null @@ -1,5 +0,0 @@ -# copied from ament_cmake_core/cmake/environment_hooks/environment/path.sh - -if [ -d "$AMENT_CURRENT_PREFIX/bin" ]; then - ament_prepend_unique_value PATH "$AMENT_CURRENT_PREFIX/bin" -fi diff --git a/install/stretch_web_teleop/share/stretch_web_teleop/hook/cmake_prefix_path.dsv b/install/stretch_web_teleop/share/stretch_web_teleop/hook/cmake_prefix_path.dsv deleted file mode 100644 index e119f32c..00000000 --- a/install/stretch_web_teleop/share/stretch_web_teleop/hook/cmake_prefix_path.dsv +++ /dev/null @@ -1 +0,0 @@ -prepend-non-duplicate;CMAKE_PREFIX_PATH; diff --git a/install/stretch_web_teleop/share/stretch_web_teleop/hook/cmake_prefix_path.ps1 b/install/stretch_web_teleop/share/stretch_web_teleop/hook/cmake_prefix_path.ps1 deleted file mode 100644 index d03facc1..00000000 --- a/install/stretch_web_teleop/share/stretch_web_teleop/hook/cmake_prefix_path.ps1 +++ /dev/null @@ -1,3 +0,0 @@ -# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em - -colcon_prepend_unique_value CMAKE_PREFIX_PATH "$env:COLCON_CURRENT_PREFIX" diff --git a/install/stretch_web_teleop/share/stretch_web_teleop/hook/cmake_prefix_path.sh b/install/stretch_web_teleop/share/stretch_web_teleop/hook/cmake_prefix_path.sh deleted file mode 100644 index a948e685..00000000 --- a/install/stretch_web_teleop/share/stretch_web_teleop/hook/cmake_prefix_path.sh +++ /dev/null @@ -1,3 +0,0 @@ -# generated from colcon_core/shell/template/hook_prepend_value.sh.em - -_colcon_prepend_unique_value CMAKE_PREFIX_PATH "$COLCON_CURRENT_PREFIX" diff --git a/install/stretch_web_teleop/share/stretch_web_teleop/launch/gripper_camera.launch.py b/install/stretch_web_teleop/share/stretch_web_teleop/launch/gripper_camera.launch.py deleted file mode 100644 index 8db7a84a..00000000 --- a/install/stretch_web_teleop/share/stretch_web_teleop/launch/gripper_camera.launch.py +++ /dev/null @@ -1,37 +0,0 @@ -import launch -from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument -from launch.substitutions import LaunchConfiguration -from launch_ros.actions import Node - -def generate_launch_description(): - return LaunchDescription([ - Node( - package='usb_cam', - executable='usb_cam_node_exe', - name='gripper_camera', - output='screen', - parameters=[ - {'video_device': '/dev/hello-gripper-camera'}, - {'image_width': 1024}, - {'image_height': 768}, - {'framerate': 30.0}, - {'pixel_format': 'yuyv'}, - {'brightness': -40}, - {'contrast': 40}, - {'saturation': 60}, - {'hue': 0}, - {'sharpness': 100}, - {'autoexposure': True}, - {'exposure': 150}, - {'auto_white_balance': False}, - {'white_balance': 4250}, - {'gain': 80}, - {'camera_frame_id': 'gripper_camera'}, - {'camera_name': 'gripper_camera'}, - {'io_method': 'mmap'} - ], - remappings=[('/image_raw', '/gripper_camera/image_raw')] - ), - # You can add more nodes or configurations here if needed. - ]) \ No newline at end of file diff --git a/install/stretch_web_teleop/share/stretch_web_teleop/launch/multi_camera.launch.py b/install/stretch_web_teleop/share/stretch_web_teleop/launch/multi_camera.launch.py deleted file mode 100644 index 1870f1fd..00000000 --- a/install/stretch_web_teleop/share/stretch_web_teleop/launch/multi_camera.launch.py +++ /dev/null @@ -1,88 +0,0 @@ -import os -from ament_index_python.packages import get_package_share_directory -from launch import LaunchDescription -from launch.actions import IncludeLaunchDescription, GroupAction -from launch.launch_description_sources import PythonLaunchDescriptionSource -from launch.actions import DeclareLaunchArgument -from launch_ros.actions import SetRemap, Node - -json_path = os.path.join(get_package_share_directory('stretch_core'), 'config', 'HighAccuracyPreset.json') - -configurable_parameters = [{'name': 'camera_namespace1', 'default': '', 'description': 'namespace for camera'}, - {'name': 'camera_name1', 'default': 'camera', 'description': 'camera unique name'}, - {'name': 'device_type1', 'default': 'd435', 'description': 'camera unique name'}, - {'name': 'json_file_path1', 'default': json_path, 'description': 'allows advanced configuration'}, - {'name': 'depth_module.depth_profile1', 'default': '424x240x15', 'description': 'depth module profile'}, - {'name': 'enable_depth1', 'default': 'true', 'description': 'enable depth stream'}, - {'name': 'rgb_camera.color_profile1', 'default': '424x240x15', 'description': 'color image width'}, - {'name': 'enable_color1', 'default': 'true', 'description': 'enable color stream'}, - {'name': 'enable_infra11', 'default': 'true', 'description': 'enable infra1 stream'}, - {'name': 'enable_infra21', 'default': 'false', 'description': 'enable infra2 stream'}, - {'name': 'infra_rgb1', 'default': 'false', 'description': 'enable infra2 stream'}, - {'name': 'enable_confidence1', 'default': 'false', 'description': 'enable depth stream'}, - {'name': 'gyro_fps1', 'default': '200', 'description': "''"}, - {'name': 'accel_fps1', 'default': '100', 'description': "''"}, - {'name': 'enable_gyro1', 'default': 'true', 'description': "''"}, - {'name': 'enable_accel1', 'default': 'true', 'description': "''"}, - {'name': 'pointcloud.enable1', 'default': 'true', 'description': ''}, - {'name': 'pointcloud.stream_filter1', 'default': '2', 'description': 'texture stream for pointcloud'}, - {'name': 'pointcloud.stream_index_filter1','default': '0', 'description': 'texture stream index for pointcloud'}, - {'name': 'enable_sync1', 'default': 'true', 'description': "''"}, - {'name': 'align_depth.enable1', 'default': 'true', 'description': "''"}, - {'name': 'initial_reset1', 'default': 'true', 'description': "''"}, - {'name': 'allow_no_texture_points1', 'default': 'true', 'description': "''"}, - {'name': 'camera_namespace2', 'default': '', 'description': 'namespace for camera'}, - {'name': 'camera_name2', 'default': 'gripper_camera', 'description': 'camera unique name'}, - {'name': 'device_type2', 'default': 'd405', 'description': 'camera unique name'}, - {'name': 'json_file_path2', 'default': json_path, 'description': 'allows advanced configuration'}, - {'name': 'depth_module.depth_profile2', 'default': '480x270x15', 'description': 'depth module profile'}, - {'name': 'depth_module.enable_auto_exposure2', 'default': 'true', 'description': 'enable/disable auto exposure for depth image'}, - {'name': 'enable_depth2', 'default': 'true', 'description': 'enable depth stream'}, - {'name': 'rgb_camera.color_profile2', 'default': '424x240x15', 'description': 'color image width'}, - {'name': 'rgb_camera.enable_auto_exposure2', 'default': 'true', 'description': 'enable/disable auto exposure for color image'}, - {'name': 'enable_color2', 'default': 'true', 'description': 'enable color stream'}, - {'name': 'enable_infra12', 'default': 'false', 'description': 'enable infra1 stream'}, - {'name': 'enable_infra22', 'default': 'false', 'description': 'enable infra2 stream'}, - {'name': 'infra_rgb2', 'default': 'false', 'description': 'enable infra2 stream'}, - {'name': 'enable_confidence2', 'default': 'false', 'description': 'enable depth stream'}, - {'name': 'gyro_fps2', 'default': '200', 'description': "''"}, - {'name': 'accel_fps2', 'default': '100', 'description': "''"}, - {'name': 'enable_gyro2', 'default': 'true', 'description': "''"}, - {'name': 'enable_accel2', 'default': 'true', 'description': "''"}, - {'name': 'pointcloud.enable2', 'default': 'true', 'description': ''}, - {'name': 'pointcloud.stream_filter2', 'default': '2', 'description': 'texture stream for pointcloud'}, - {'name': 'pointcloud.stream_index_filter2','default': '0', 'description': 'texture stream index for pointcloud'}, - {'name': 'enable_sync2', 'default': 'true', 'description': "''"}, - {'name': 'align_depth.enable2', 'default': 'true', 'description': "''"}, - {'name': 'initial_reset2', 'default': 'false', 'description': "''"}, - {'name': 'allow_no_texture_points2', 'default': 'true', 'description': "''"}, - ] - -def declare_configurable_parameters(parameters): - return [DeclareLaunchArgument(param['name'], default_value=param['default'], description=param['description']) for param in parameters] - -def set_configurable_parameters(parameters): - return dict([(param['name'], LaunchConfiguration(param['name'])) for param in parameters]) - -def generate_launch_description(): - realsense_launch = GroupAction( - actions=[ - SetRemap(src='/gripper_camera/color/image_rect_raw', dst='/gripper_camera/image_raw'), - IncludeLaunchDescription( - PythonLaunchDescriptionSource([os.path.join( - get_package_share_directory('realsense2_camera'), 'launch'), - '/rs_multi_camera_launch.py']) - ) - ] - ) - - d435i_accel_correction = Node( - package='stretch_core', - executable='d435i_accel_correction', - output='screen', - ) - - return LaunchDescription(declare_configurable_parameters(configurable_parameters) + [ - realsense_launch, - d435i_accel_correction, - ]) diff --git a/install/stretch_web_teleop/share/stretch_web_teleop/launch/navigation_camera.launch.py b/install/stretch_web_teleop/share/stretch_web_teleop/launch/navigation_camera.launch.py deleted file mode 100644 index 665a5b0f..00000000 --- a/install/stretch_web_teleop/share/stretch_web_teleop/launch/navigation_camera.launch.py +++ /dev/null @@ -1,38 +0,0 @@ -import launch -from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument -from launch.substitutions import LaunchConfiguration -from launch_ros.actions import Node - -def generate_launch_description(): - return LaunchDescription([ - Node( - package='usb_cam', - executable='usb_cam_node_exe', - name='navigation_camera', - output='screen', - parameters=[ - {'video_device': '/dev/hello-navigation-camera'}, - {'image_width': 800}, - {'image_height': 600}, - {'framerate': 15.0}, - {'pixel_format': 'mjpeg2rgb'}, - {'brightness': 10}, - {'contrast': 30}, - {'hue': 0}, - {'saturation': 80}, - {'sharpness': 3}, - {'gamma': 80}, - {'exposure_auto': True}, - #{'exposure': 150}, - {'white_balance_temperature_auto': True}, - #{'white_balance': 4250}, - {'gain': 10}, - {'camera_frame_id': 'navigation_camera'}, - {'camera_name': 'navigation_camera'}, - {'io_method': 'mmap'} - ], - remappings=[('/image_raw', '/navigation_camera/image_raw')] - ), - # You can add more nodes or configurations here if needed. - ]) diff --git a/install/stretch_web_teleop/share/stretch_web_teleop/launch/web_interface.launch.py b/install/stretch_web_teleop/share/stretch_web_teleop/launch/web_interface.launch.py deleted file mode 100644 index 508fcd04..00000000 --- a/install/stretch_web_teleop/share/stretch_web_teleop/launch/web_interface.launch.py +++ /dev/null @@ -1,314 +0,0 @@ -import os -import fnmatch -import stretch_body.robot_params - -from ament_index_python import get_package_share_directory -from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, GroupAction, ExecuteProcess -from launch.conditions import IfCondition, UnlessCondition, LaunchConfigurationNotEquals -from launch.launch_description_sources import PythonLaunchDescriptionSource, FrontendLaunchDescriptionSource -from launch.substitutions import LaunchConfiguration, PathJoinSubstitution, FindExecutable, OrSubstitution, AndSubstitution, NotSubstitution -from launch.substitutions import ThisLaunchFileDir -from launch_ros.actions import Node -from ament_index_python.packages import get_package_share_path - - -def symlinks_to_has_beta_teleop_kit(): - usb_device_seen = { - 'hello-navigation-camera': False, - 'hello-gripper-camera': False, - } - - listOfFiles = os.listdir('/dev') - pattern = "hello*" - for entry in listOfFiles: - if fnmatch.fnmatch(entry, pattern): - usb_device_seen[entry] = True - - return all(usb_device_seen.values()) - - -def symlinks_to_has_nav_head_cam(): - usb_device_seen = { - 'hello-nav-head-camera': False, - } - - listOfFiles = os.listdir('/dev') - pattern = "hello*" - for entry in listOfFiles: - if fnmatch.fnmatch(entry, pattern): - usb_device_seen[entry] = True - - return all(usb_device_seen.values()) - - -def map_configuration_to_drivers(model, tool, has_beta_teleop_kit, has_nav_head_cam): - """This method maps configurations to drivers. I.e. it identifies the robot configuration - based on the variables provided and returns which drivers should be activated. If the - variables don't constitute a valid configuration, something is wrong with the hardware, - so the function raises an exception. - - Returns - ------- - Tuple - tuple with four elements: - which_realsense_drivers ('d435i-only' or 'both'), - add_gripper_driver (True or False), - add_navigation_driver (True or False), - add_head_nav_driver (True or False) - """ - # Stretch RE1 - if model == "RE1V0" and tool == "tool_stretch_gripper" and has_beta_teleop_kit == False and has_nav_head_cam == False: - return 'd435-only', False, False, False - elif model == "RE1V0" and tool == "tool_stretch_gripper" and has_beta_teleop_kit == True and has_nav_head_cam == False: - return 'd435-only', True, True, False - elif model == "RE1V0" and tool == "tool_stretch_dex_wrist" and has_beta_teleop_kit == False and has_nav_head_cam == False: - return 'd435-only', False, False, False - elif model == "RE1V0" and tool == "tool_stretch_dex_wrist" and has_beta_teleop_kit == True and has_nav_head_cam == False: - return 'd435-only', True, True, False - # Stretch 2 - elif model == "RE2V0" and tool == "tool_stretch_gripper" and has_beta_teleop_kit == False and has_nav_head_cam == False: - return 'd435-only', False, False, False - elif model == "RE2V0" and tool == "tool_stretch_gripper" and has_beta_teleop_kit == True and has_nav_head_cam == False: - return 'd435-only', True, True, False - elif model == "RE2V0" and tool == "tool_stretch_dex_wrist" and has_beta_teleop_kit == False and has_nav_head_cam == False: - return 'd435-only', False, False, False - elif model == "RE2V0" and tool == "tool_stretch_dex_wrist" and has_beta_teleop_kit == True and has_nav_head_cam == False: - return 'd435-only', True, True, False - # Stretch 2+ (upgraded Stretch 2) - elif model == "RE2V0" and tool == "eoa_wrist_dw3_tool_sg3" and has_beta_teleop_kit == False and has_nav_head_cam == True: - return 'both' , False, False, True - # Stretch 3 - elif model == "SE3" and tool == "eoa_wrist_dw3_tool_sg3" and has_beta_teleop_kit == False and has_nav_head_cam == True: - return 'both' , False, False, True - - raise ValueError(f'cannot find valid configuration for model={model}, tool={tool}, has_beta_teleop_kit={has_beta_teleop_kit}, has_nav_head_cam={has_nav_head_cam}') - -def generate_launch_description(): - teleop_interface_package = str(get_package_share_path('stretch_web_teleop')) - core_package = str(get_package_share_path('stretch_core')) - rosbridge_package = str(get_package_share_path('rosbridge_server')) - stretch_core_path = str(get_package_share_directory('stretch_core')) - stretch_navigation_path = str(get_package_share_directory('stretch_nav2')) - navigation_bringup_path = str(get_package_share_directory('nav2_bringup')) - - _, robot_params = stretch_body.robot_params.RobotParams().get_params() - stretch_serial_no = robot_params['robot']['serial_no'] - stretch_model = robot_params['robot']['model_name'] - stretch_tool = robot_params['robot']['tool'] - stretch_has_beta_teleop_kit = symlinks_to_has_beta_teleop_kit() - stretch_has_nav_head_cam = symlinks_to_has_nav_head_cam() - drivers_realsense, driver_gripper_cam, driver_navigation_cam, driver_nav_head_cam = map_configuration_to_drivers( - stretch_model, stretch_tool, stretch_has_beta_teleop_kit, stretch_has_nav_head_cam) - - # Declare launch arguments - params_file = DeclareLaunchArgument('params', default_value=[ - PathJoinSubstitution([teleop_interface_package, 'config', 'configure_video_streams_params.yaml'])]) - map_yaml = DeclareLaunchArgument('map_yaml', description='filepath to previously captured map', default_value='') - certfile_arg = DeclareLaunchArgument('certfile', default_value=stretch_serial_no + '+6.pem') - keyfile_arg = DeclareLaunchArgument('keyfile', default_value=stretch_serial_no + '+6-key.pem') - nav2_params_file_param = DeclareLaunchArgument( - 'nav2_params_file', - default_value=os.path.join(stretch_navigation_path, 'config', 'nav2_params.yaml'), - description='Full path to the ROS2 parameters file to use for all launched nodes') - dict_file_path = os.path.join(core_package, 'config', 'stretch_marker_dict.yaml') - depthimage_to_laserscan_config = os.path.join(core_package, 'config', 'depthimage_to_laser_scan_params.yaml') - - # Start collecting nodes to launch - ld = LaunchDescription([ - map_yaml, - nav2_params_file_param, - params_file, - certfile_arg, - keyfile_arg, - ]) - - if drivers_realsense == 'd435-only': - # Launch only D435i if there is no D405 - ld.add_action( - GroupAction( - actions=[ - IncludeLaunchDescription( - PythonLaunchDescriptionSource(PathJoinSubstitution([core_package, 'launch', 'd435i_low_resolution.launch.py'])) - ) - ] - ) - ) - elif drivers_realsense == 'both': - # Launch both D435i and D405 - ld.add_action( - GroupAction( - actions=[ - IncludeLaunchDescription( - PythonLaunchDescriptionSource(PathJoinSubstitution([teleop_interface_package, 'launch', 'multi_camera.launch.py'])) - ) - ] - ) - ) - - if driver_navigation_cam == True: - # Beta Teleop Kit Navigation Camera - ld.add_action( - GroupAction( - actions=[ - IncludeLaunchDescription( - PythonLaunchDescriptionSource(PathJoinSubstitution([core_package, 'launch', 'beta_navigation_camera.launch.py'])) - ) - ] - ) - ) - - if driver_nav_head_cam == True: - # Nav Head Wide Angle Camera - ld.add_action( - GroupAction( - actions=[ - IncludeLaunchDescription( - PythonLaunchDescriptionSource(PathJoinSubstitution([core_package, 'launch', 'navigation_camera.launch.py'])) - ) - ] - ) - ) - - if driver_gripper_cam == True: - # Beta Teleop Kit Gripper Camera - ld.add_action( - GroupAction( - actions=[ - IncludeLaunchDescription( - PythonLaunchDescriptionSource(PathJoinSubstitution([core_package, 'launch', 'beta_gripper_camera.launch.py'])) - ) - ] - ) - ) - - if driver_navigation_cam == False and driver_nav_head_cam == False: - # Blank Navigation Camera Node - # Publish blank image if no navigation camera exists - ld.add_action( - Node( - package='image_publisher', - executable='image_publisher_node', - name='navigation_camera_node', - output='screen', - parameters=[{'publish_rate': 15.0}], - remappings=[('image_raw', '/navigation_camera/image_raw')], - arguments=[PathJoinSubstitution([teleop_interface_package, 'nodes', 'blank_image.png'])], - ) - ) - - if drivers_realsense == 'd435-only' and driver_gripper_cam == False: - # Blank Gripper Camera Node - # Publish blank image if there is no gripper camera exists - ld.add_action( - Node( - package='image_publisher', - executable='image_publisher_node', - name='gripper_camera_node', - output='screen', - parameters=[{'publish_rate': 15.0}], - remappings=[('image_raw', '/gripper_camera/color/image_rect_raw')], - arguments=[PathJoinSubstitution([teleop_interface_package, 'nodes', 'blank_image.png'])], - ) - ) - - tf2_web_republisher_node = Node( - package='tf2_web_republisher_py', - executable='tf2_web_republisher', - name='tf2_web_republisher_node' - ) - ld.add_action(tf2_web_republisher_node) - - # Stretch Driver - stretch_driver_launch = IncludeLaunchDescription( - PythonLaunchDescriptionSource(PathJoinSubstitution([core_package, 'launch', 'stretch_driver.launch.py'])), - launch_arguments={'broadcast_odom_tf': 'True'}.items()) - ld.add_action(stretch_driver_launch) - - # Rosbridge Websocket - rosbridge_launch = IncludeLaunchDescription( - FrontendLaunchDescriptionSource(PathJoinSubstitution([rosbridge_package, 'launch', 'rosbridge_websocket_launch.xml'])), - launch_arguments={ - 'port': '9090', - 'address': 'localhost', - 'ssl': 'true', - 'certfile': PathJoinSubstitution([teleop_interface_package, 'certificates', LaunchConfiguration('certfile')]), - 'keyfile': PathJoinSubstitution([teleop_interface_package, 'certificates', LaunchConfiguration('keyfile')]), - 'authenticate': 'false' - }.items() - ) - ld.add_action(rosbridge_launch) - - # Configure Video Streams - configure_video_streams_node = Node( - package='stretch_web_teleop', - executable='configure_video_streams.py', - output='screen', - arguments=[LaunchConfiguration('params'), str(stretch_has_beta_teleop_kit)], - parameters=[{'has_beta_teleop_kit': stretch_has_beta_teleop_kit}] - ) - ld.add_action(configure_video_streams_node) - - rplidar_launch = IncludeLaunchDescription( - PythonLaunchDescriptionSource([stretch_core_path, '/launch/rplidar.launch.py'])) - ld.add_action(rplidar_launch) - - navigation_bringup_launch = GroupAction( - condition=LaunchConfigurationNotEquals('map_yaml', ''), - actions=[ - IncludeLaunchDescription( - PythonLaunchDescriptionSource([stretch_navigation_path, '/launch/bringup_launch.py']), - launch_arguments={'use_sim_time': 'false', - 'autostart': 'true', - 'map': PathJoinSubstitution([teleop_interface_package, 'maps', LaunchConfiguration('map_yaml')]), - 'params_file': LaunchConfiguration('nav2_params_file'), - 'use_rviz': 'false'}.items()) - ] - ) - ld.add_action(navigation_bringup_launch) - - ld.add_action( - ExecuteProcess( - cmd=[ - [ - FindExecutable(name="ros2"), - " service call ", - "/reinitialize_global_localization ", - "std_srvs/srv/Empty ", - "\"{}\"", - ] - ], - shell=True, - ), - ) - - ld.add_action( - ExecuteProcess( - cmd=[ - [ - FindExecutable(name="ros2"), - " param set ", - "/rosbridge_websocket ", - "std_msgs/msg/Bool ", - "true", - ] - ], - shell=True, - ) - ) - - ld.add_action( - ExecuteProcess( - cmd=[ - [ - FindExecutable(name="ros2"), - " param set ", - "/gripper_camera ", - "depth_module.enable_auto_exposure ", - "true", - ] - ], - shell=True, - ) - ) - return ld diff --git a/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.bash b/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.bash deleted file mode 100644 index 49782f24..00000000 --- a/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.bash +++ /dev/null @@ -1,46 +0,0 @@ -# generated from ament_package/template/package_level/local_setup.bash.in - -# source local_setup.sh from same directory as this file -_this_path=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" && pwd) -# provide AMENT_CURRENT_PREFIX to shell script -AMENT_CURRENT_PREFIX=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." && pwd) -# store AMENT_CURRENT_PREFIX to restore it before each environment hook -_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX - -# trace output -if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then - echo "# . \"$_this_path/local_setup.sh\"" -fi -. "$_this_path/local_setup.sh" -unset _this_path - -# unset AMENT_ENVIRONMENT_HOOKS -# if not appending to them for return -if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then - unset AMENT_ENVIRONMENT_HOOKS -fi - -# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks -AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX -# list all environment hooks of this package - -# source all shell-specific environment hooks of this package -# if not returning them -if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then - _package_local_setup_IFS=$IFS - IFS=":" - for _hook in $AMENT_ENVIRONMENT_HOOKS; do - # restore AMENT_CURRENT_PREFIX for each environment hook - AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX - # restore IFS before sourcing other files - IFS=$_package_local_setup_IFS - . "$_hook" - done - unset _hook - IFS=$_package_local_setup_IFS - unset _package_local_setup_IFS - unset AMENT_ENVIRONMENT_HOOKS -fi - -unset _package_local_setup_AMENT_CURRENT_PREFIX -unset AMENT_CURRENT_PREFIX diff --git a/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.dsv b/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.dsv deleted file mode 100644 index 02a2a239..00000000 --- a/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.dsv +++ /dev/null @@ -1,2 +0,0 @@ -source;share/stretch_web_teleop/environment/ament_prefix_path.sh -source;share/stretch_web_teleop/environment/path.sh diff --git a/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.sh b/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.sh deleted file mode 100644 index f16c25b8..00000000 --- a/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.sh +++ /dev/null @@ -1,184 +0,0 @@ -# generated from ament_package/template/package_level/local_setup.sh.in - -# since this file is sourced use either the provided AMENT_CURRENT_PREFIX -# or fall back to the destination set at configure time -: ${AMENT_CURRENT_PREFIX:="/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop"} -if [ ! -d "$AMENT_CURRENT_PREFIX" ]; then - if [ -z "$COLCON_CURRENT_PREFIX" ]; then - echo "The compile time prefix path '$AMENT_CURRENT_PREFIX' doesn't " \ - "exist. Consider sourcing a different extension than '.sh'." 1>&2 - else - AMENT_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX" - fi -fi - -# function to append values to environment variables -# using colons as separators and avoiding leading separators -ament_append_value() { - # arguments - _listname="$1" - _value="$2" - #echo "listname $_listname" - #eval echo "list value \$$_listname" - #echo "value $_value" - - # avoid leading separator - eval _values=\"\$$_listname\" - if [ -z "$_values" ]; then - eval export $_listname=\"$_value\" - #eval echo "set list \$$_listname" - else - # field separator must not be a colon - _ament_append_value_IFS=$IFS - unset IFS - eval export $_listname=\"\$$_listname:$_value\" - #eval echo "append list \$$_listname" - IFS=$_ament_append_value_IFS - unset _ament_append_value_IFS - fi - unset _values - - unset _value - unset _listname -} - -# function to append non-duplicate values to environment variables -# using colons as separators and avoiding leading separators -ament_append_unique_value() { - # arguments - _listname=$1 - _value=$2 - #echo "listname $_listname" - #eval echo "list value \$$_listname" - #echo "value $_value" - - # check if the list contains the value - eval _values=\$$_listname - _duplicate= - _ament_append_unique_value_IFS=$IFS - IFS=":" - if [ "$AMENT_SHELL" = "zsh" ]; then - ament_zsh_to_array _values - fi - for _item in $_values; do - # ignore empty strings - if [ -z "$_item" ]; then - continue - fi - if [ $_item = $_value ]; then - _duplicate=1 - fi - done - unset _item - - # append only non-duplicates - if [ -z "$_duplicate" ]; then - # avoid leading separator - if [ -z "$_values" ]; then - eval $_listname=\"$_value\" - #eval echo "set list \$$_listname" - else - # field separator must not be a colon - unset IFS - eval $_listname=\"\$$_listname:$_value\" - #eval echo "append list \$$_listname" - fi - fi - IFS=$_ament_append_unique_value_IFS - unset _ament_append_unique_value_IFS - unset _duplicate - unset _values - - unset _value - unset _listname -} - -# function to prepend non-duplicate values to environment variables -# using colons as separators and avoiding trailing separators -ament_prepend_unique_value() { - # arguments - _listname="$1" - _value="$2" - #echo "listname $_listname" - #eval echo "list value \$$_listname" - #echo "value $_value" - - # check if the list contains the value - eval _values=\"\$$_listname\" - _duplicate= - _ament_prepend_unique_value_IFS=$IFS - IFS=":" - if [ "$AMENT_SHELL" = "zsh" ]; then - ament_zsh_to_array _values - fi - for _item in $_values; do - # ignore empty strings - if [ -z "$_item" ]; then - continue - fi - if [ "$_item" = "$_value" ]; then - _duplicate=1 - fi - done - unset _item - - # prepend only non-duplicates - if [ -z "$_duplicate" ]; then - # avoid trailing separator - if [ -z "$_values" ]; then - eval export $_listname=\"$_value\" - #eval echo "set list \$$_listname" - else - # field separator must not be a colon - unset IFS - eval export $_listname=\"$_value:\$$_listname\" - #eval echo "prepend list \$$_listname" - fi - fi - IFS=$_ament_prepend_unique_value_IFS - unset _ament_prepend_unique_value_IFS - unset _duplicate - unset _values - - unset _value - unset _listname -} - -# unset AMENT_ENVIRONMENT_HOOKS -# if not appending to them for return -if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then - unset AMENT_ENVIRONMENT_HOOKS -fi - -# list all environment hooks of this package -ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/stretch_web_teleop/environment/ament_prefix_path.sh" -ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/stretch_web_teleop/environment/path.sh" - -# source all shell-specific environment hooks of this package -# if not returning them -if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then - _package_local_setup_IFS=$IFS - IFS=":" - if [ "$AMENT_SHELL" = "zsh" ]; then - ament_zsh_to_array AMENT_ENVIRONMENT_HOOKS - fi - for _hook in $AMENT_ENVIRONMENT_HOOKS; do - if [ -f "$_hook" ]; then - # restore IFS before sourcing other files - IFS=$_package_local_setup_IFS - # trace output - if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then - echo "# . \"$_hook\"" - fi - . "$_hook" - fi - done - unset _hook - IFS=$_package_local_setup_IFS - unset _package_local_setup_IFS - unset AMENT_ENVIRONMENT_HOOKS -fi - -# reset AMENT_CURRENT_PREFIX after each package -# allowing to source multiple package-level setup files -unset AMENT_CURRENT_PREFIX diff --git a/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.zsh b/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.zsh deleted file mode 100644 index fe161be5..00000000 --- a/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.zsh +++ /dev/null @@ -1,59 +0,0 @@ -# generated from ament_package/template/package_level/local_setup.zsh.in - -AMENT_SHELL=zsh - -# source local_setup.sh from same directory as this file -_this_path=$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd) -# provide AMENT_CURRENT_PREFIX to shell script -AMENT_CURRENT_PREFIX=$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd) -# store AMENT_CURRENT_PREFIX to restore it before each environment hook -_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX - -# function to convert array-like strings into arrays -# to wordaround SH_WORD_SPLIT not being set -ament_zsh_to_array() { - local _listname=$1 - local _dollar="$" - local _split="{=" - local _to_array="(\"$_dollar$_split$_listname}\")" - eval $_listname=$_to_array -} - -# trace output -if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then - echo "# . \"$_this_path/local_setup.sh\"" -fi -# the package-level local_setup file unsets AMENT_CURRENT_PREFIX -. "$_this_path/local_setup.sh" -unset _this_path - -# unset AMENT_ENVIRONMENT_HOOKS -# if not appending to them for return -if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then - unset AMENT_ENVIRONMENT_HOOKS -fi - -# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks -AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX -# list all environment hooks of this package - -# source all shell-specific environment hooks of this package -# if not returning them -if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then - _package_local_setup_IFS=$IFS - IFS=":" - for _hook in $AMENT_ENVIRONMENT_HOOKS; do - # restore AMENT_CURRENT_PREFIX for each environment hook - AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX - # restore IFS before sourcing other files - IFS=$_package_local_setup_IFS - . 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- # Get filtered points in camera frame - # pc_in_camera = ros2_numpy.point_cloud2.pointcloud2_to_xyz_array(msg) # N x 3 - pts_in_range = self.pcl_cloud_filtered.to_array()[filtered_indices, :] - pts_in_range = np.hstack((pts_in_range, np.ones((pts_in_range.shape[0],1)))) - - # Get pixel coordinates - coords = np.matmul(self.P, np.transpose(pts_in_range)) # 3 x N - x_idx = np.absolute((coords[0,:]/coords[2,:]).astype(int)) - y_idx = np.absolute((coords[1,:]/coords[2,:]).astype(int)) - # negative_indices = np.where((x_idx < 0) or (y_idx < 0)) - - # Change color of pixels in robot's reach - if img is not None: - img[x_idx, img.shape[1] - 1 - y_idx, :] = [255, 191, 0, 50] - # img[y_idx, x_idx, 3] = 0 - - return img - - def depth_ar_callback(self, req, res): - self.depth_ar = req.data - res.success = True - return res - - def crop_image(self, image, params): - if params["x_min"] is None: raise ValueError("Crop x_min is not defined!") - if params["x_max"] is None: raise ValueError("Crop x_max is not defined!") - if params["y_min"] is None: raise ValueError("Crop y_min is not defined!") - if params["y_max"] is None: raise ValueError("Crop y_max is not defined!") - - x_min = params["x_min"] - x_max = params["x_max"] - y_min = params["y_min"] - y_max = params["y_max"] - - return image[x_min:x_max, y_min:y_max] - - # https://stackoverflow.com/questions/44865023/how-can-i-create-a-circular-mask-for-a-numpy-array - def create_circular_mask(self, h, w, center=None, radius=None): - if center is None: # use the middle of the image - center = (int(w/2), int(h/2)) - if radius is None: # use the smallest distance between the center and image walls - radius = min(center[0], center[1], w-center[0], h-center[1]) - - Y, X = np.ogrid[:h, :w] - dist_from_center = np.sqrt((X - center[0])**2 + (Y-center[1])**2) - - mask = dist_from_center <= radius - return mask - - def mask_image(self, image, params): - if params["width"] is None: raise ValueError("Mask width is not defined!") - if params["height"] is None: raise ValueError("Mask height is not defined!") - - w = params["width"] - h = params["height"] - center = (params["center"]["x"], params["center"]["y"]) if params["center"] else None - radius = params["radius"] - - mask = self.create_circular_mask(h, w, center, radius) - img = image.copy() - img[~mask] = 200 - return img - - def rotate_image(self, image, value): - if value == 'ROTATE_90_CLOCKWISE': - return cv2.rotate(image, cv2.ROTATE_90_CLOCKWISE) - elif value == "ROTATE_180": - return cv2.rotate(image, cv2.ROTATE_180) - elif value == "ROTATE_90_COUNTERCLOCKWISE": - return cv2.rotate(image, cv2.ROTATE_90_COUNTERCLOCKWISE) - else: - raise ValueError("Invalid rotate image value: options are ROTATE_90_CLOCKWISE, ROTATE_180, or ROTATE_90_COUNTERCLOCKWISE") - - def configure_images(self, rgb_image, params): - # if rgb_image.shape[-1] == 2: - # rgb_image = cv2.cvtColor(rgb_image, cv2.COLOR_YUV2RGB_YVYU) - # else: - - rgb_image = cv2.cvtColor(rgb_image, cv2.COLOR_BGR2RGB) - if params: - if params['crop']: - rgb_image = self.crop_image(rgb_image, params['crop']) - if params['mask']: - rgb_image = self.mask_image(rgb_image, params['mask']) - if params['rotate']: - rgb_image = self.rotate_image(rgb_image, params['rotate']) - return rgb_image - - def realsense_cb(self, ros_image, pc): - image = self.cv_bridge.imgmsg_to_cv2(ros_image) - for image_config_name in self.realsense_params: - img = self.configure_images(image, self.realsense_params[image_config_name]) - img = cv2.cvtColor(img, cv2.COLOR_RGB2RGBA) - if self.depth_ar: img = self.pc_callback(pc, img) - # if self.aruco_markers: img = self.aruco_markers_callback(marker_msg, img) - self.realsense_images[image_config_name] = img - - self.realsense_rgb_image = self.realsense_images[self.realsense_camera_perspective] - self.publish_compressed_msg(self.realsense_rgb_image, self.publisher_realsense_cmp) - - def gripper_camera_cb(self, ros_image): - image = self.cv_bridge.imgmsg_to_cv2(ros_image, 'rgb8') - img = self.rotate_image_around_center(image, -1*self.roll_value) - self.gripper_camera_rgb_image = self.configure_images(img, self.gripper_params[self.gripper_camera_perspective]) - self.publish_compressed_msg(self.gripper_camera_rgb_image, self.publisher_gripper_cmp) - - def navigation_camera_cb(self, ros_image): - image = self.cv_bridge.imgmsg_to_cv2(ros_image, 'rgb8') - self.overhead_camera_rgb_image = self.configure_images(image, self.overhead_params[self.overhead_camera_perspective]) - self.publish_compressed_msg(self.overhead_camera_rgb_image, self.publisher_overhead_cmp) - - def rotate_image_around_center(self, image, angle): - image_center = tuple(np.array(image.shape[1::-1]) / 2) - rot_mat = cv2.getRotationMatrix2D(image_center, math.degrees(angle), 1.0) - result = cv2.warpAffine(image, rot_mat, image.shape[1::-1], flags=cv2.INTER_LINEAR) - return result - - def joint_state_cb(self, joint_state): - if 'joint_wrist_roll' in joint_state.name: - roll_index = joint_state.name.index('joint_wrist_roll') - self.roll_value = joint_state.position[roll_index] - - def publish_compressed_msg(self, image, publisher): - msg = CompressedImage() - msg.header.stamp = self.get_clock().now().to_msg() - msg.format = "jpeg" - msg.data = np.array(cv2.imencode('.jpg', image)[1]).tobytes() - publisher.publish(msg) - -if __name__ == '__main__': - rclpy.init() - print(sys.argv) - node = ConfigureVideoStreams(sys.argv[1], sys.argv[2] == "True") - print("Publishing reconfigured video stream") - rclpy.spin(node) diff --git a/install/stretch_web_teleop/share/stretch_web_teleop/nodes/gripper_camera.py b/install/stretch_web_teleop/share/stretch_web_teleop/nodes/gripper_camera.py deleted file mode 100644 index 9c7d4091..00000000 --- a/install/stretch_web_teleop/share/stretch_web_teleop/nodes/gripper_camera.py +++ /dev/null @@ -1,130 +0,0 @@ -#! /usr/bin/env python3 - - -# my_image_publisher/my_image_publisher/publisher_node.py - -import cv2 -from sensor_msgs.msg import Image -from cv_bridge import CvBridge -import rclpy -from rclpy.node import Node -import threading -from rclpy.executors import MultiThreadedExecutor -import os - -UVC_COLOR_SIZE = [1024, 768] # [3840,2880] [1920, 1080] [1280, 720] [1280, 800] [640, 480] -UVC_FPS = 100 - -UVC_VIDEO_INDEX = '/dev/hello-gripper-camera' -UVC_VIDEO_FORMAT = 'MJPG' # MJPG YUYV - -UVC_BRIGHTNESS = -40 # brightness 0x00980900 (int) : min=-64 max=64 step=1 default=0 value=0 -UVC_CONTRAST = 40 # contrast 0x00980901 (int) : min=0 max=64 step=1 default=32 value=32 -UVC_SATURATION = 60 # saturation 0x00980902 (int) : min=0 max=128 step=1 default=90 value=90 -UVC_HUE = 0 # hue 0x00980903 (int) : min=-40 max=40 step=1 default=0 value=0 -UVC_GAMMA = 80 # gamma 0x00980910 (int) : min=72 max=500 step=1 default=100 value=100 -UVC_GAIN = 80 # gain 0x00980913 (int) : min=0 max=100 step=1 default=0 value=0 -UVC_WB_TEMP = 4250 # white_balance_temperature 0x0098091a (int) : min=2800 max=6500 step=1 default=4600 value=4600 flags=inactive -UVC_SHARPNESS = 100 # sharpness 0x0098091b (int) : min=0 max=6 step=1 default=3 value=3 -UVC_BACKLIT_COMP = 1 # backlight_compensation 0x0098091c (int) : min=0 max=2 step=1 default=1 value=1 -UVC_EXPOSURE_TIME = 157 # exposure_time_absolute 0x009a0902 (int) : min=1 max=5000 step=1 default=157 value=157 flags=inactive - -# More UVC Video capture properties here: -# https://docs.opencv.org/3.4/d4/d15/group__videoio__flags__base.html -# -# Arducam wiki info site -# https://docs.arducam.com/UVC-Camera/Appilcation-Note/OpenCV-Python-GStreamer-on-linux/ -# -# Setting Video formates using v4l2 -# http://trac.gateworks.com/wiki/linux/v4l2 -# -# - - -def setup_uvc_camera(device_index, size, fps): - cap = cv2.VideoCapture(device_index) - cap.set(cv2.CAP_PROP_FRAME_WIDTH, size[0]) - cap.set(cv2.CAP_PROP_FRAME_HEIGHT, size[1]) - cap.set(cv2.CAP_PROP_FPS, fps) - return cap - - - -UVC_SETTINGS = {'brightness':UVC_BRIGHTNESS, - 'contrast':UVC_CONTRAST, - 'hue':UVC_HUE, - 'gamma':UVC_GAMMA, - 'gain':UVC_GAIN, - 'white_balance_temperature':UVC_WB_TEMP, - 'sharpness':UVC_SHARPNESS, - 'backlight_compensation':UVC_BACKLIT_COMP, - 'exposure_time_absolute':UVC_EXPOSURE_TIME} - -# Set video format and size -cmd = f"v4l2-ctl --device {UVC_VIDEO_INDEX} --set-fmt-video=width={UVC_COLOR_SIZE[0]},height={UVC_COLOR_SIZE[1]}" -os.system(cmd) - -# Set UVC SettingsNone -for k in list(UVC_SETTINGS.keys()): - cmd = f"v4l2-ctl --device {UVC_VIDEO_INDEX} --set-ctrl={k}={UVC_SETTINGS[k]}" - os.system(cmd) - -class GripperImagePublisherNode(Node): - def __init__(self): - super().__init__('image_publisher_node') - self.publisher = self.create_publisher(Image, '/gripper_camera/color/image_rect_raw', 15) - timer_period = 0.001 # seconds - self.timer = self.create_timer(timer_period, self.timer_callback) - self.timer2 = self.create_timer(timer_period, self.timer_callback2) - self.cv_bridge = CvBridge() - self.uvc_camera = setup_uvc_camera(UVC_VIDEO_INDEX, UVC_COLOR_SIZE, UVC_FPS) - self.image_msg = None - # self.uvc_camera_thread = threading.Thread(target=self.stream_camera) - # self.uvc_camera_thread.start() - - # def stream_camera(self): - # print("Starting Image Stream") - # while True: - # # Capture an image using OpenCV - # try: - # ret, image_uvc = self.uvc_camera.read() - # # Convert the OpenCV image to a ROS Image message - # self.image_msg = self.cv_bridge.cv2_to_imgmsg(image_uvc, encoding='bgr8') - # print("Updated") - # except Exception as e: - # print(f"Error UVC Cam: {e}") - - def timer_callback(self): - # Publish the image message - if self.image_msg is not None: - # print("Published") - self.publisher.publish(self.image_msg) - - def timer_callback2(self): - try: - ret, image_uvc = self.uvc_camera.read() - # Convert the OpenCV image to a ROS Image message - self.image_msg = self.cv_bridge.cv2_to_imgmsg(image_uvc, encoding='bgr8') - # print("Updated") - except Exception as e: - print(f"Error UVC Cam: {e}") - - - -def main(args=None): - rclpy.init(args=args) - - image_publisher_node = GripperImagePublisherNode() - - executor = MultiThreadedExecutor() - executor.add_node(image_publisher_node) - try: - rclpy.spin(image_publisher_node, executor) - except KeyboardInterrupt: - pass - finally: - image_publisher_node.destroy_node() - rclpy.shutdown() - -if __name__ == '__main__': - main() diff --git a/install/stretch_web_teleop/share/stretch_web_teleop/nodes/navigation_camera.py b/install/stretch_web_teleop/share/stretch_web_teleop/nodes/navigation_camera.py deleted file mode 100644 index 2db441c7..00000000 --- a/install/stretch_web_teleop/share/stretch_web_teleop/nodes/navigation_camera.py +++ /dev/null @@ -1,133 +0,0 @@ -#! /usr/bin/env python3 - - -# my_image_publisher/my_image_publisher/publisher_node.py - -import cv2 -from sensor_msgs.msg import Image -from cv_bridge import CvBridge -import rclpy -from rclpy.node import Node -import threading -from rclpy.executors import MultiThreadedExecutor -import os - -UVC_COLOR_SIZE = [1280, 800] # [3840,2880] [1920, 1080] [1280, 720] [1280, 800] [640, 480] -UVC_FPS = 100 - -UVC_VIDEO_INDEX = '/dev/hello-nav-head-camera' -UVC_VIDEO_FORMAT = 'MJPG' # MJPG YUYV - -UVC_BRIGHTNESS = 10 # brightness 0x00980900 (int) : min=-64 max=64 step=1 default=0 value=0 -UVC_CONTRAST = 30 # contrast 0x00980901 (int) : min=0 max=64 step=1 default=32 value=32 -UVC_SATURATION = 80 # saturation 0x00980902 (int) : min=0 max=128 step=1 default=90 value=90 -UVC_HUE = 0 # hue 0x00980903 (int) : min=-40 max=40 step=1 default=0 value=0 -UVC_GAMMA = 80 # gamma 0x00980910 (int) : min=72 max=500 step=1 default=100 value=100 -UVC_GAIN = 10 # gain 0x00980913 (int) : min=0 max=100 step=1 default=0 value=0 -UVC_WB_TEMP = 4600 # white_balance_temperature 0x0098091a (int) : min=2800 max=6500 step=1 default=4600 value=4600 flags=inactive -UVC_SHARPNESS = 3 # sharpness 0x0098091b (int) : min=0 max=6 step=1 default=3 value=3 -UVC_BACKLIT_COMP = 1 # backlight_compensation 0x0098091c (int) : min=0 max=2 step=1 default=1 value=1 -UVC_EXPOSURE_TIME = 157 # exposure_time_absolute 0x009a0902 (int) : min=1 max=5000 step=1 default=157 value=157 flags=inactive - -# More UVC Video capture properties here: -# https://docs.opencv.org/3.4/d4/d15/group__videoio__flags__base.html -# -# Arducam wiki info site -# https://docs.arducam.com/UVC-Camera/Appilcation-Note/OpenCV-Python-GStreamer-on-linux/ -# -# Setting Video formates using v4l2 -# http://trac.gateworks.com/wiki/linux/v4l2 -# -# - - -def setup_uvc_camera(device_index, size, fps): - cap = cv2.VideoCapture(device_index) - cap.set(cv2.CAP_PROP_FRAME_WIDTH, size[0]) - cap.set(cv2.CAP_PROP_FRAME_HEIGHT, size[1]) - cap.set(cv2.CAP_PROP_FPS, fps) - return cap - - - -UVC_SETTINGS = {'brightness':UVC_BRIGHTNESS, - 'contrast':UVC_CONTRAST, - 'hue':UVC_HUE, - 'gamma':UVC_GAMMA, - 'gain':UVC_GAIN, - 'white_balance_temperature':UVC_WB_TEMP, - 'sharpness':UVC_SHARPNESS, - 'backlight_compensation':UVC_BACKLIT_COMP, - 'exposure_time_absolute':UVC_EXPOSURE_TIME} - -# Set video format and size -cmd = f"v4l2-ctl --device {UVC_VIDEO_INDEX} --set-fmt-video=width={UVC_COLOR_SIZE[0]},height={UVC_COLOR_SIZE[1]}" -os.system(cmd) - -# Set UVC SettingsNone -for k in list(UVC_SETTINGS.keys()): - cmd = f"v4l2-ctl --device {UVC_VIDEO_INDEX} --set-ctrl={k}={UVC_SETTINGS[k]}" - os.system(cmd) - - - - -class ImagePublisherNode(Node): - def __init__(self): - super().__init__('image_publisher_node') - self.publisher = self.create_publisher(Image, '/navigation_camera/image_raw', 15) - timer_period = 0.001 # seconds - self.timer = self.create_timer(timer_period, self.timer_callback) - self.timer2 = self.create_timer(timer_period, self.timer_callback2) - self.cv_bridge = CvBridge() - self.uvc_camera = setup_uvc_camera(UVC_VIDEO_INDEX, UVC_COLOR_SIZE, UVC_FPS) - self.image_msg = None - # self.uvc_camera_thread = threading.Thread(target=self.stream_camera) - # self.uvc_camera_thread.start() - - # def stream_camera(self): - # print("Starting Image Stream") - # while True: - # # Capture an image using OpenCV - # try: - # ret, image_uvc = self.uvc_camera.read() - # # Convert the OpenCV image to a ROS Image message - # self.image_msg = self.cv_bridge.cv2_to_imgmsg(image_uvc, encoding='bgr8') - # print("Updated") - # except Exception as e: - # print(f"Error UVC Cam: {e}") - - def timer_callback(self): - # Publish the image message - if self.image_msg is not None: - # print("Published") - self.publisher.publish(self.image_msg) - - def timer_callback2(self): - try: - ret, image_uvc = self.uvc_camera.read() - # Convert the OpenCV image to a ROS Image message - self.image_msg = self.cv_bridge.cv2_to_imgmsg(image_uvc, encoding='bgr8') - # print("Updated") - except Exception as e: - print(f"Error UVC Cam: {e}") - - - -def main(args=None): - rclpy.init(args=args) - - image_publisher_node = ImagePublisherNode() - - executor = MultiThreadedExecutor() - executor.add_node(image_publisher_node) - try: - rclpy.spin(image_publisher_node, executor) - except KeyboardInterrupt: - pass - finally: - image_publisher_node.destroy_node() - rclpy.shutdown() - -if __name__ == '__main__': - main() diff --git a/install/stretch_web_teleop/share/stretch_web_teleop/nodes/old_navigation_camera.py b/install/stretch_web_teleop/share/stretch_web_teleop/nodes/old_navigation_camera.py deleted file mode 100644 index 37c5427d..00000000 --- a/install/stretch_web_teleop/share/stretch_web_teleop/nodes/old_navigation_camera.py +++ /dev/null @@ -1,103 +0,0 @@ -#! /usr/bin/env python3 - -import cv2 -from sensor_msgs.msg import Image -from cv_bridge import CvBridge -import rclpy -from rclpy.node import Node -import threading -from rclpy.executors import MultiThreadedExecutor -import os - -UVC_COLOR_SIZE = [1024, 768] # [3840,2880] [1920, 1080] [1280, 720] [1280, 800] [640, 480] -UVC_FPS = 100 - -UVC_VIDEO_INDEX = '/dev/hello-navigation-camera' -UVC_VIDEO_FORMAT = 'MJPG' # MJPG YUYV - -UVC_BRIGHTNESS = 10 # brightness 0x00980900 (int) : min=-64 max=64 step=1 default=0 value=0 -UVC_CONTRAST = 30 # contrast 0x00980901 (int) : min=0 max=64 step=1 default=32 value=32 -UVC_SATURATION = 80 # saturation 0x00980902 (int) : min=0 max=128 step=1 default=90 value=90 -UVC_HUE = 0 # hue 0x00980903 (int) : min=-40 max=40 step=1 default=0 value=0 -UVC_GAMMA = 80 # gamma 0x00980910 (int) : min=72 max=500 step=1 default=100 value=100 -UVC_GAIN = 10 # gain 0x00980913 (int) : min=0 max=100 step=1 default=0 value=0 -UVC_WB_TEMP = 4600 # white_balance_temperature 0x0098091a (int) : min=2800 max=6500 step=1 default=4600 value=4600 flags=inactive -UVC_SHARPNESS = 3 # sharpness 0x0098091b (int) : min=0 max=6 step=1 default=3 value=3 -UVC_BACKLIT_COMP = 1 # backlight_compensation 0x0098091c (int) : min=0 max=2 step=1 default=1 value=1 -UVC_EXPOSURE_TIME = 150 # exposure_time_absolute 0x009a0902 (int) : min=1 max=5000 step=1 default=157 value=157 flags=inactive - -# More UVC Video capture properties here: -# https://docs.opencv.org/3.4/d4/d15/group__videoio__flags__base.html -# -# Arducam wiki info site -# https://docs.arducam.com/UVC-Camera/Appilcation-Note/OpenCV-Python-GStreamer-on-linux/ -# -# Setting Video formates using v4l2 -# http://trac.gateworks.com/wiki/linux/v4l2 -def setup_uvc_camera(device_index, size, fps): - cap = cv2.VideoCapture(device_index) - cap.set(cv2.CAP_PROP_FRAME_WIDTH, size[0]) - cap.set(cv2.CAP_PROP_FRAME_HEIGHT, size[1]) - cap.set(cv2.CAP_PROP_FPS, fps) - return cap - -UVC_SETTINGS = {'brightness':UVC_BRIGHTNESS, - 'contrast':UVC_CONTRAST, - 'hue':UVC_HUE, - 'gamma':UVC_GAMMA, - 'gain':UVC_GAIN, - 'white_balance_temperature':UVC_WB_TEMP, - 'sharpness':UVC_SHARPNESS, - 'backlight_compensation':UVC_BACKLIT_COMP, - 'exposure_time_absolute':UVC_EXPOSURE_TIME} - -# Set video format and size -cmd = f"v4l2-ctl --device {UVC_VIDEO_INDEX} --set-fmt-video=width={UVC_COLOR_SIZE[0]},height={UVC_COLOR_SIZE[1]}" -os.system(cmd) - -# Set UVC SettingsNone -for k in list(UVC_SETTINGS.keys()): - cmd = f"v4l2-ctl --device {UVC_VIDEO_INDEX} --set-ctrl={k}={UVC_SETTINGS[k]}" - os.system(cmd) - -class ImagePublisherNode(Node): - def __init__(self): - super().__init__('image_publisher_node') - self.publisher = self.create_publisher(Image, '/navigation_camera/image_raw', 15) - timer_period = 0.001 # seconds - self.timer = self.create_timer(timer_period, self.timer_callback) - self.timer2 = self.create_timer(timer_period, self.timer_callback2) - self.cv_bridge = CvBridge() - self.uvc_camera = setup_uvc_camera(UVC_VIDEO_INDEX, UVC_COLOR_SIZE, UVC_FPS) - self.image_msg = None - - def timer_callback(self): - # Publish the image message - if self.image_msg is not None: - self.publisher.publish(self.image_msg) - - def timer_callback2(self): - try: - ret, image_uvc = self.uvc_camera.read() - # Convert the OpenCV image to a ROS Image message - self.image_msg = self.cv_bridge.cv2_to_imgmsg(image_uvc, encoding='bgr8') - except Exception as e: - print(f"Error UVC Cam: {e}") - -def main(args=None): - rclpy.init(args=args) - - image_publisher_node = ImagePublisherNode() - - executor = MultiThreadedExecutor() - executor.add_node(image_publisher_node) - try: - rclpy.spin(image_publisher_node, executor) - except KeyboardInterrupt: - pass - finally: - image_publisher_node.destroy_node() - rclpy.shutdown() - -if __name__ == '__main__': - main() diff --git a/install/stretch_web_teleop/share/stretch_web_teleop/package.bash b/install/stretch_web_teleop/share/stretch_web_teleop/package.bash deleted file mode 100644 index cdacbcaf..00000000 --- a/install/stretch_web_teleop/share/stretch_web_teleop/package.bash +++ /dev/null @@ -1,39 +0,0 @@ -# generated from colcon_bash/shell/template/package.bash.em - -# This script extends the environment for this package. - -# a bash script is able to determine its own path if necessary -if [ -z "$COLCON_CURRENT_PREFIX" ]; then - # the prefix is two levels up from the package specific share directory - _colcon_package_bash_COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." > /dev/null && pwd)" -else - _colcon_package_bash_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX" -fi - -# function to source another script with conditional trace output -# first argument: the path of the script -# additional arguments: arguments to the script -_colcon_package_bash_source_script() { - if [ -f "$1" ]; then - if [ -n "$COLCON_TRACE" ]; then - echo "# . \"$1\"" - fi - . "$@" - else - echo "not found: \"$1\"" 1>&2 - fi -} - -# source sh script of this package -_colcon_package_bash_source_script "$_colcon_package_bash_COLCON_CURRENT_PREFIX/share/stretch_web_teleop/package.sh" - -# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced scripts -COLCON_CURRENT_PREFIX="$_colcon_package_bash_COLCON_CURRENT_PREFIX" - -# source bash hooks -_colcon_package_bash_source_script "$COLCON_CURRENT_PREFIX/share/stretch_web_teleop/local_setup.bash" - -unset COLCON_CURRENT_PREFIX - -unset _colcon_package_bash_source_script -unset _colcon_package_bash_COLCON_CURRENT_PREFIX diff --git a/install/stretch_web_teleop/share/stretch_web_teleop/package.dsv b/install/stretch_web_teleop/share/stretch_web_teleop/package.dsv deleted file mode 100644 index 04e291d3..00000000 --- a/install/stretch_web_teleop/share/stretch_web_teleop/package.dsv +++ /dev/null @@ -1,8 +0,0 @@ -source;share/stretch_web_teleop/hook/cmake_prefix_path.ps1 -source;share/stretch_web_teleop/hook/cmake_prefix_path.dsv -source;share/stretch_web_teleop/hook/cmake_prefix_path.sh -source;share/stretch_web_teleop/local_setup.bash -source;share/stretch_web_teleop/local_setup.dsv -source;share/stretch_web_teleop/local_setup.ps1 -source;share/stretch_web_teleop/local_setup.sh -source;share/stretch_web_teleop/local_setup.zsh diff --git a/install/stretch_web_teleop/share/stretch_web_teleop/package.ps1 b/install/stretch_web_teleop/share/stretch_web_teleop/package.ps1 deleted file mode 100644 index 6f4a0893..00000000 --- a/install/stretch_web_teleop/share/stretch_web_teleop/package.ps1 +++ /dev/null @@ -1,116 +0,0 @@ -# generated from colcon_powershell/shell/template/package.ps1.em - -# function to append a value to a variable -# which uses colons as separators -# duplicates as well as leading separators are avoided -# first argument: the name of the result variable -# second argument: the value to be prepended -function colcon_append_unique_value { - param ( - $_listname, - $_value - ) - - # get values from variable - if (Test-Path Env:$_listname) { - $_values=(Get-Item env:$_listname).Value - } else { - $_values="" - } - $_duplicate="" - # start with no values - $_all_values="" - # iterate over existing values in the variable - if ($_values) { - $_values.Split(";") | ForEach { - # not an empty string - if ($_) { - # not a duplicate of _value - if ($_ -eq $_value) { - $_duplicate="1" - } - if ($_all_values) { - $_all_values="${_all_values};$_" - } else { - $_all_values="$_" - } - } - } - } - # append only non-duplicates - if (!$_duplicate) { - # avoid leading separator - if ($_all_values) { - $_all_values="${_all_values};${_value}" - } else { - $_all_values="${_value}" - } - } - - # export the updated variable - Set-Item env:\$_listname -Value "$_all_values" -} - -# 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 -function colcon_prepend_unique_value { - param ( - $_listname, - $_value - ) - - # get values from variable - if (Test-Path Env:$_listname) { - $_values=(Get-Item env:$_listname).Value - } else { - $_values="" - } - # start with the new value - $_all_values="$_value" - # iterate over existing values in the variable - if ($_values) { - $_values.Split(";") | ForEach { - # not an empty string - if ($_) { - # not a duplicate of _value - if ($_ -ne $_value) { - # keep non-duplicate values - $_all_values="${_all_values};$_" - } - } - } - } - # export the updated variable - Set-Item env:\$_listname -Value "$_all_values" -} - -# function to source another script with conditional trace output -# first argument: the path of the script -# additional arguments: arguments to the script -function colcon_package_source_powershell_script { - param ( - $_colcon_package_source_powershell_script - ) - # source script with conditional trace output - if (Test-Path $_colcon_package_source_powershell_script) { - if ($env:COLCON_TRACE) { - echo ". '$_colcon_package_source_powershell_script'" - } - . "$_colcon_package_source_powershell_script" - } else { - Write-Error "not found: '$_colcon_package_source_powershell_script'" - } -} - - -# a powershell script is able to determine its own path -# the prefix is two levels up from the package specific share directory -$env:COLCON_CURRENT_PREFIX=(Get-Item $PSCommandPath).Directory.Parent.Parent.FullName - -colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/stretch_web_teleop/hook/cmake_prefix_path.ps1" -colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/stretch_web_teleop/local_setup.ps1" - -Remove-Item Env:\COLCON_CURRENT_PREFIX diff --git a/install/stretch_web_teleop/share/stretch_web_teleop/package.sh b/install/stretch_web_teleop/share/stretch_web_teleop/package.sh deleted file mode 100644 index a8d57aab..00000000 --- a/install/stretch_web_teleop/share/stretch_web_teleop/package.sh +++ /dev/null @@ -1,87 +0,0 @@ -# generated from colcon_core/shell/template/package.sh.em - -# This script extends the environment for this package. - -# 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_prepend_unique_value() { - # arguments - _listname="$1" - _value="$2" - - # get values from variable - eval _values=\"\$$_listname\" - # backup the field separator - _colcon_prepend_unique_value_IFS=$IFS - IFS=":" - # start with the new value - _all_values="$_value" - # workaround SH_WORD_SPLIT not being set in zsh - if [ "$(command -v colcon_zsh_convert_to_array)" ]; then - colcon_zsh_convert_to_array _values - fi - # 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_prepend_unique_value_IFS - unset _colcon_prepend_unique_value_IFS - # export the updated variable - eval export $_listname=\"$_all_values\" - unset _all_values - unset _values - - unset _value - unset _listname -} - -# 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_package_sh_COLCON_CURRENT_PREFIX="/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop" -if [ -z "$COLCON_CURRENT_PREFIX" ]; then - if [ ! -d "$_colcon_package_sh_COLCON_CURRENT_PREFIX" ]; then - echo "The build time path \"$_colcon_package_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2 - unset _colcon_package_sh_COLCON_CURRENT_PREFIX - return 1 - fi - COLCON_CURRENT_PREFIX="$_colcon_package_sh_COLCON_CURRENT_PREFIX" -fi -unset _colcon_package_sh_COLCON_CURRENT_PREFIX - -# function to source another script with conditional trace output -# first argument: the path of the script -# additional arguments: arguments to the script -_colcon_package_sh_source_script() { - if [ -f "$1" ]; then - if [ -n "$COLCON_TRACE" ]; then - echo "# . \"$1\"" - fi - . "$@" - else - echo "not found: \"$1\"" 1>&2 - fi -} - -# source sh hooks -_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/stretch_web_teleop/hook/cmake_prefix_path.sh" -_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/stretch_web_teleop/local_setup.sh" - -unset _colcon_package_sh_source_script -unset COLCON_CURRENT_PREFIX - -# do not unset _colcon_prepend_unique_value since it might be used by non-primary shell hooks diff --git a/install/stretch_web_teleop/share/stretch_web_teleop/package.xml b/install/stretch_web_teleop/share/stretch_web_teleop/package.xml deleted file mode 100644 index 4bfa81de..00000000 --- a/install/stretch_web_teleop/share/stretch_web_teleop/package.xml +++ /dev/null @@ -1,27 +0,0 @@ - - - stretch_web_teleop - 0.1.0 - The stretch web teleop package - - Hello Robot Inc. - - TODO - - https://github.com/hello-robot/stretch_ros2 - - ament_cmake - rosbridge_server - imu_filter_madgwick - usb_cam - - tf2_sensor_msgs - cv_bridge - compressed_image_transport - pcl_ros - image_publisher - - - ament_cmake - - diff --git a/install/stretch_web_teleop/share/stretch_web_teleop/package.zsh b/install/stretch_web_teleop/share/stretch_web_teleop/package.zsh deleted file mode 100644 index ed7056f2..00000000 --- a/install/stretch_web_teleop/share/stretch_web_teleop/package.zsh +++ /dev/null @@ -1,50 +0,0 @@ -# generated from colcon_zsh/shell/template/package.zsh.em - -# This script extends the environment for this package. - -# a zsh script is able to determine its own path if necessary -if [ -z "$COLCON_CURRENT_PREFIX" ]; then - # the prefix is two levels up from the package specific share directory - _colcon_package_zsh_COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd)" -else - _colcon_package_zsh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX" -fi - -# function to source another script with conditional trace output -# first argument: the path of the script -# additional arguments: arguments to the script -_colcon_package_zsh_source_script() { - if [ -f "$1" ]; then - if [ -n "$COLCON_TRACE" ]; then - echo "# . \"$1\"" - fi - . "$@" - else - echo "not found: \"$1\"" 1>&2 - fi -} - -# function to convert array-like strings into arrays -# to workaround SH_WORD_SPLIT not being set -colcon_zsh_convert_to_array() { - local _listname=$1 - local _dollar="$" - local _split="{=" - local _to_array="(\"$_dollar$_split$_listname}\")" - eval $_listname=$_to_array -} - -# source sh script of this package -_colcon_package_zsh_source_script "$_colcon_package_zsh_COLCON_CURRENT_PREFIX/share/stretch_web_teleop/package.sh" -unset convert_zsh_to_array - -# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced scripts -COLCON_CURRENT_PREFIX="$_colcon_package_zsh_COLCON_CURRENT_PREFIX" - -# source zsh hooks -_colcon_package_zsh_source_script "$COLCON_CURRENT_PREFIX/share/stretch_web_teleop/local_setup.zsh" - -unset COLCON_CURRENT_PREFIX - -unset _colcon_package_zsh_source_script -unset _colcon_package_zsh_COLCON_CURRENT_PREFIX diff --git a/log/COLCON_IGNORE b/log/COLCON_IGNORE deleted file mode 100644 index e69de29b..00000000 diff --git a/log/build_2024-04-29_21-21-16/events.log b/log/build_2024-04-29_21-21-16/events.log deleted file mode 100644 index c24877d5..00000000 --- a/log/build_2024-04-29_21-21-16/events.log +++ /dev/null @@ -1,78 +0,0 @@ -[0.000000] (-) TimerEvent: {} -[0.000136] (stretch_web_teleop) JobQueued: {'identifier': 'stretch_web_teleop', 'dependencies': OrderedDict()} -[0.000175] (stretch_web_teleop) JobStarted: {'identifier': 'stretch_web_teleop'} -[0.006201] (stretch_web_teleop) JobProgress: {'identifier': 'stretch_web_teleop', 'progress': 'cmake'} -[0.006242] (stretch_web_teleop) Command: {'cmd': ['/usr/bin/cmake', '/home/hello-robot/ament_ws/src/stretch_web_teleop', '-DCMAKE_INSTALL_PREFIX=/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop'], 'cwd': '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop', 'env': OrderedDict([('HELLO_FLEET_ID', 'stretch-se3-3031'), ('LESSOPEN', '| /usr/bin/lesspipe %s'), ('PYTHONWARNINGS', 'ignore:setup.py install is deprecated,ignore:Invalid dash-separated options,ignore:pkg_resources is deprecated as an API,ignore:Usage of dash-separated'), ('USER', 'hello-robot'), ('XDG_SESSION_TYPE', 'x11'), ('HELLO_FLEET_PATH', '/home/hello-robot/stretch_user'), ('SHLVL', '1'), ('LD_LIBRARY_PATH', '/home/hello-robot/ament_ws/install/tf2_web_republisher/lib:/home/hello-robot/ament_ws/install/speech_recognition_msgs/lib:/home/hello-robot/ament_ws/install/sound_play_msgs/lib:/home/hello-robot/ament_ws/install/rosbridge_test_msgs/lib:/home/hello-robot/ament_ws/install/rosbridge_msgs/lib:/home/hello-robot/ament_ws/install/rosapi_msgs/lib:/home/hello-robot/ament_ws/install/realsense2_camera/lib:/home/hello-robot/ament_ws/install/realsense2_camera_msgs/lib:/home/hello-robot/ament_ws/install/audio_play/lib:/home/hello-robot/ament_ws/install/audio_capture/lib:/home/hello-robot/ament_ws/install/audio_common_msgs/lib:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib'), ('HOME', '/home/hello-robot'), ('OLDPWD', '/home/hello-robot/ament_ws'), ('DESKTOP_SESSION', 'ubuntu'), ('ROS_PYTHON_VERSION', '3'), ('GNOME_SHELL_SESSION_MODE', 'ubuntu'), ('GTK_MODULES', 'gail:atk-bridge'), ('SYSTEMD_EXEC_PID', '2243'), ('DBUS_SESSION_BUS_ADDRESS', 'unix:path=/run/user/1000/bus'), ('COLORTERM', 'truecolor'), ('_colcon_cd_root', '/home/hello-robot'), ('COLCON_PREFIX_PATH', '/home/hello-robot/ament_ws/install'), ('ROS_DISTRO', 'humble'), ('GTK_IM_MODULE', 'ibus'), ('LOGNAME', 'hello-robot'), ('_', '/usr/bin/colcon'), ('ROS_VERSION', '2'), ('XDG_SESSION_CLASS', 'user'), ('USERNAME', 'hello-robot'), ('TERM', 'xterm-256color'), ('GNOME_DESKTOP_SESSION_ID', 'this-is-deprecated'), ('ROS_LOCALHOST_ONLY', '0'), ('WINDOWPATH', '2'), ('PATH', '/home/hello-robot/ament_ws/install/audio_play/bin:/home/hello-robot/ament_ws/install/audio_capture/bin:/opt/ros/humble/bin:/home/hello-robot/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/snap/bin:/home/hello-robot/.local/bin'), ('SESSION_MANAGER', 'local/stretch-se3-3031:@/tmp/.ICE-unix/2219,unix/stretch-se3-3031:/tmp/.ICE-unix/2219'), ('XDG_MENU_PREFIX', 'gnome-'), ('GNOME_TERMINAL_SCREEN', '/org/gnome/Terminal/screen/6c436525_4ed9_4c42_ad01_1841cce5a788'), ('XDG_RUNTIME_DIR', '/run/user/1000'), ('DISPLAY', ':0'), ('LANG', 'en_US.UTF-8'), ('XDG_CURRENT_DESKTOP', 'ubuntu:GNOME'), ('XMODIFIERS', '@im=ibus'), ('XDG_SESSION_DESKTOP', 'ubuntu'), ('XAUTHORITY', '/run/user/1000/gdm/Xauthority'), ('LS_COLORS', 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.webp=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:'), ('GNOME_TERMINAL_SERVICE', ':1.92'), ('SSH_AGENT_LAUNCHER', 'gnome-keyring'), ('SSH_AUTH_SOCK', '/run/user/1000/keyring/ssh'), ('ROS_DOMAIN_ID', '22'), ('AMENT_PREFIX_PATH', '/home/hello-robot/ament_ws/install/tf2_web_republisher_py:/home/hello-robot/ament_ws/install/tf2_web_republisher:/home/hello-robot/ament_ws/install/stretch_web_teleop:/home/hello-robot/ament_ws/install/stretch_rtabmap:/home/hello-robot/ament_ws/install/stretch_ros_tutorials:/home/hello-robot/ament_ws/install/stretch_nav2:/home/hello-robot/ament_ws/install/stretch_funmap:/home/hello-robot/ament_ws/install/stretch_calibration:/home/hello-robot/ament_ws/install/stretch_description:/home/hello-robot/ament_ws/install/stretch_demos:/home/hello-robot/ament_ws/install/stretch_deep_perception:/home/hello-robot/ament_ws/install/stretch_core:/home/hello-robot/ament_ws/install/respeaker_ros2:/home/hello-robot/ament_ws/install/speech_recognition_msgs:/home/hello-robot/ament_ws/install/sound_play_msgs:/home/hello-robot/ament_ws/install/audio_common:/home/hello-robot/ament_ws/install/sound_play:/home/hello-robot/ament_ws/install/sllidar_ros2:/home/hello-robot/ament_ws/install/rosbridge_test_msgs:/home/hello-robot/ament_ws/install/rosbridge_suite:/home/hello-robot/ament_ws/install/rosbridge_server:/home/hello-robot/ament_ws/install/rosbridge_msgs:/home/hello-robot/ament_ws/install/rosapi:/home/hello-robot/ament_ws/install/rosbridge_library:/home/hello-robot/ament_ws/install/rosapi_msgs:/home/hello-robot/ament_ws/install/ros2_numpy:/home/hello-robot/ament_ws/install/realsense2_description:/home/hello-robot/ament_ws/install/realsense2_camera:/home/hello-robot/ament_ws/install/realsense2_camera_msgs:/home/hello-robot/ament_ws/install/hello_helpers:/home/hello-robot/ament_ws/install/audio_play:/home/hello-robot/ament_ws/install/audio_capture:/home/hello-robot/ament_ws/install/audio_common_msgs:/opt/ros/humble'), ('LRS_LOG_LEVEL', 'None'), ('SHELL', '/bin/bash'), ('QT_ACCESSIBILITY', '1'), ('GDMSESSION', 'ubuntu'), ('LESSCLOSE', '/usr/bin/lesspipe %s %s'), ('GPG_AGENT_INFO', '/run/user/1000/gnupg/S.gpg-agent:0:1'), ('QT_IM_MODULE', 'ibus'), ('PWD', '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop'), ('XDG_CONFIG_DIRS', '/etc/xdg/xdg-ubuntu:/etc/xdg'), ('XDG_DATA_DIRS', '/usr/share/ubuntu:/usr/share/gnome:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop'), ('PYTHONPATH', 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('GNOME_TERMINAL_SERVICE', ':1.92'), ('SSH_AGENT_LAUNCHER', 'gnome-keyring'), ('SSH_AUTH_SOCK', '/run/user/1000/keyring/ssh'), ('ROS_DOMAIN_ID', '22'), ('AMENT_PREFIX_PATH', '/home/hello-robot/ament_ws/install/tf2_web_republisher_py:/home/hello-robot/ament_ws/install/tf2_web_republisher:/home/hello-robot/ament_ws/install/stretch_web_teleop:/home/hello-robot/ament_ws/install/stretch_rtabmap:/home/hello-robot/ament_ws/install/stretch_ros_tutorials:/home/hello-robot/ament_ws/install/stretch_nav2:/home/hello-robot/ament_ws/install/stretch_funmap:/home/hello-robot/ament_ws/install/stretch_calibration:/home/hello-robot/ament_ws/install/stretch_description:/home/hello-robot/ament_ws/install/stretch_demos:/home/hello-robot/ament_ws/install/stretch_deep_perception:/home/hello-robot/ament_ws/install/stretch_core:/home/hello-robot/ament_ws/install/respeaker_ros2:/home/hello-robot/ament_ws/install/speech_recognition_msgs:/home/hello-robot/ament_ws/install/sound_play_msgs:/home/hello-robot/ament_ws/install/audio_common:/home/hello-robot/ament_ws/install/sound_play:/home/hello-robot/ament_ws/install/sllidar_ros2:/home/hello-robot/ament_ws/install/rosbridge_test_msgs:/home/hello-robot/ament_ws/install/rosbridge_suite:/home/hello-robot/ament_ws/install/rosbridge_server:/home/hello-robot/ament_ws/install/rosbridge_msgs:/home/hello-robot/ament_ws/install/rosapi:/home/hello-robot/ament_ws/install/rosbridge_library:/home/hello-robot/ament_ws/install/rosapi_msgs:/home/hello-robot/ament_ws/install/ros2_numpy:/home/hello-robot/ament_ws/install/realsense2_description:/home/hello-robot/ament_ws/install/realsense2_camera:/home/hello-robot/ament_ws/install/realsense2_camera_msgs:/home/hello-robot/ament_ws/install/hello_helpers:/home/hello-robot/ament_ws/install/audio_play:/home/hello-robot/ament_ws/install/audio_capture:/home/hello-robot/ament_ws/install/audio_common_msgs:/opt/ros/humble'), 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'/home/hello-robot/ament_ws/install/tf2_web_republisher_py/lib/python3.10/site-packages:/home/hello-robot/ament_ws/install/tf2_web_republisher/local/lib/python3.10/dist-packages:/home/hello-robot/ament_ws/install/stretch_ros_tutorials/lib/python3.10/site-packages:/home/hello-robot/ament_ws/install/stretch_nav2/local/lib/python3.10/dist-packages:/home/hello-robot/ament_ws/install/stretch_funmap/lib/python3.10/site-packages:/home/hello-robot/ament_ws/install/stretch_calibration/lib/python3.10/site-packages:/home/hello-robot/ament_ws/install/stretch_demos/lib/python3.10/site-packages:/home/hello-robot/ament_ws/install/stretch_deep_perception/lib/python3.10/site-packages:/home/hello-robot/ament_ws/install/stretch_core/lib/python3.10/site-packages:/home/hello-robot/ament_ws/install/respeaker_ros2/lib/python3.10/site-packages:/home/hello-robot/ament_ws/install/speech_recognition_msgs/local/lib/python3.10/dist-packages:/home/hello-robot/ament_ws/install/sound_play_msgs/local/lib/python3.10/dist-packages:/home/hello-robot/ament_ws/install/sound_play/local/lib/python3.10/dist-packages:/home/hello-robot/ament_ws/install/rosbridge_test_msgs/local/lib/python3.10/dist-packages:/home/hello-robot/ament_ws/install/rosbridge_server/local/lib/python3.10/dist-packages:/home/hello-robot/ament_ws/install/rosbridge_msgs/local/lib/python3.10/dist-packages:/home/hello-robot/ament_ws/install/rosapi/local/lib/python3.10/dist-packages:/home/hello-robot/ament_ws/install/rosbridge_library/local/lib/python3.10/dist-packages:/home/hello-robot/ament_ws/install/rosapi_msgs/local/lib/python3.10/dist-packages:/home/hello-robot/ament_ws/install/ros2_numpy/local/lib/python3.10/dist-packages:/home/hello-robot/ament_ws/install/realsense2_camera_msgs/local/lib/python3.10/dist-packages:/home/hello-robot/ament_ws/install/hello_helpers/lib/python3.10/site-packages:/home/hello-robot/ament_ws/install/audio_common_msgs/local/lib/python3.10/dist-packages:/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages'), ('COLCON', '1'), ('VTE_VERSION', '6800'), ('CMAKE_PREFIX_PATH', '/home/hello-robot/ament_ws/install/tf2_web_republisher:/home/hello-robot/ament_ws/install/stretch_web_teleop:/home/hello-robot/ament_ws/install/stretch_rtabmap:/home/hello-robot/ament_ws/install/stretch_nav2:/home/hello-robot/ament_ws/install/stretch_description:/home/hello-robot/ament_ws/install/speech_recognition_msgs:/home/hello-robot/ament_ws/install/sound_play_msgs:/home/hello-robot/ament_ws/install/audio_common:/home/hello-robot/ament_ws/install/sound_play:/home/hello-robot/ament_ws/install/sllidar_ros2:/home/hello-robot/ament_ws/install/rosbridge_test_msgs:/home/hello-robot/ament_ws/install/rosbridge_suite:/home/hello-robot/ament_ws/install/rosbridge_server:/home/hello-robot/ament_ws/install/rosbridge_msgs:/home/hello-robot/ament_ws/install/rosapi:/home/hello-robot/ament_ws/install/rosbridge_library:/home/hello-robot/ament_ws/install/rosapi_msgs:/home/hello-robot/ament_ws/install/ros2_numpy:/home/hello-robot/ament_ws/install/realsense2_description:/home/hello-robot/ament_ws/install/realsense2_camera:/home/hello-robot/ament_ws/install/realsense2_camera_msgs:/home/hello-robot/ament_ws/install/audio_play:/home/hello-robot/ament_ws/install/audio_capture:/home/hello-robot/ament_ws/install/audio_common_msgs:/home/hello-robot/ament_ws/install/tf2_web_republisher_py:/home/hello-robot/ament_ws/install/stretch_ros_tutorials:/home/hello-robot/ament_ws/install/stretch_funmap:/home/hello-robot/ament_ws/install/stretch_calibration:/home/hello-robot/ament_ws/install/stretch_demos:/home/hello-robot/ament_ws/install/stretch_deep_perception:/home/hello-robot/ament_ws/install/stretch_core:/home/hello-robot/ament_ws/install/respeaker_ros2:/home/hello-robot/ament_ws/install/hello_helpers:/opt/ros/humble')]), 'shell': False} -[0.573321] (stretch_web_teleop) StdoutLine: {'line': b'-- Install configuration: ""\n'} -[0.573475] (stretch_web_teleop) StdoutLine: {'line': b'-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/lib/stretch_web_teleop/configure_video_streams.py\n'} -[0.573560] (stretch_web_teleop) StdoutLine: {'line': b'-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/lib/stretch_web_teleop/navigation_camera.py\n'} -[0.573733] (stretch_web_teleop) StdoutLine: {'line': b'-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch\n'} -[0.573800] (stretch_web_teleop) StdoutLine: {'line': b'-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch/navigation_camera.launch.py\n'} -[0.573879] (stretch_web_teleop) StdoutLine: {'line': b'-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch/gripper_camera.launch.py\n'} -[0.573954] (stretch_web_teleop) StdoutLine: {'line': b'-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch/web_interface.launch.py\n'} -[0.574028] (stretch_web_teleop) StdoutLine: {'line': b'-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch/multi_camera.launch.py\n'} -[0.574111] (stretch_web_teleop) StdoutLine: {'line': b'-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates\n'} -[0.574192] (stretch_web_teleop) StdoutLine: {'line': b'-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/.gitkeep\n'} -[0.574273] (stretch_web_teleop) StdoutLine: {'line': b'-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/rootCA.pem\n'} -[0.574351] (stretch_web_teleop) StdoutLine: {'line': b'-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/stretch-se3-3031+6.pem\n'} -[0.574434] (stretch_web_teleop) StdoutLine: {'line': b'-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/stretch-se3-3031+6-key.pem\n'} -[0.574506] (stretch_web_teleop) StdoutLine: {'line': b'-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/rootCA-key.pem\n'} -[0.574569] (stretch_web_teleop) StdoutLine: {'line': b'-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes\n'} -[0.574629] (stretch_web_teleop) StdoutLine: {'line': b'-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/configure_video_streams.py\n'} -[0.574702] (stretch_web_teleop) StdoutLine: {'line': b'-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/navigation_camera.py\n'} -[0.574775] (stretch_web_teleop) StdoutLine: {'line': b'-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/old_navigation_camera.py\n'} -[0.574836] (stretch_web_teleop) StdoutLine: {'line': b'-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/gripper_camera.py\n'} -[0.574913] (stretch_web_teleop) StdoutLine: {'line': b'-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/blank_image.png\n'} -[0.574974] (stretch_web_teleop) StdoutLine: {'line': b'-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/config\n'} -[0.575055] (stretch_web_teleop) StdoutLine: {'line': b'-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/config/configure_video_streams_params.yaml\n'} -[0.575116] (stretch_web_teleop) StdoutLine: {'line': b'-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/maps\n'} -[0.575180] (stretch_web_teleop) StdoutLine: {'line': b'-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/maps/map.pgm\n'} -[0.575365] (stretch_web_teleop) StdoutLine: {'line': b'-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/maps/map.yaml\n'} -[0.575461] (stretch_web_teleop) StdoutLine: {'line': b'-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/ament_index/resource_index/package_run_dependencies/stretch_web_teleop\n'} -[0.575540] (stretch_web_teleop) StdoutLine: {'line': b'-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/ament_index/resource_index/parent_prefix_path/stretch_web_teleop\n'} -[0.575615] (stretch_web_teleop) StdoutLine: {'line': b'-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/environment/ament_prefix_path.sh\n'} -[0.575690] (stretch_web_teleop) StdoutLine: {'line': b'-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/environment/ament_prefix_path.dsv\n'} -[0.575771] (stretch_web_teleop) StdoutLine: {'line': b'-- Installing: 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/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.dsv\n'} -[0.576235] (stretch_web_teleop) StdoutLine: {'line': b'-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.dsv\n'} -[0.576296] (stretch_web_teleop) StdoutLine: {'line': b'-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/ament_index/resource_index/packages/stretch_web_teleop\n'} -[0.576357] (stretch_web_teleop) StdoutLine: {'line': b'-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/cmake/stretch_web_teleopConfig.cmake\n'} -[0.576416] (stretch_web_teleop) StdoutLine: {'line': b'-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/cmake/stretch_web_teleopConfig-version.cmake\n'} -[0.576477] (stretch_web_teleop) StdoutLine: {'line': b'-- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.xml\n'} -[0.577413] (stretch_web_teleop) CommandEnded: {'returncode': 0} -[0.600792] (-) TimerEvent: {} -[0.603803] (stretch_web_teleop) JobEnded: {'identifier': 'stretch_web_teleop', 'rc': 0} -[0.604207] (-) EventReactorShutdown: {} diff --git a/log/build_2024-04-29_21-21-16/logger_all.log b/log/build_2024-04-29_21-21-16/logger_all.log deleted file mode 100644 index e3027f2a..00000000 --- a/log/build_2024-04-29_21-21-16/logger_all.log +++ /dev/null @@ -1,106 +0,0 @@ -[0.084s] DEBUG:colcon:Command line arguments: ['/usr/bin/colcon', 'build'] -[0.084s] 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=16, 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, mixin_files=None, mixin=None, verb_parser=, verb_extension=, main=>, mixin_verb=('build',)) -[0.215s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) check parameters -[0.215s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) check parameters -[0.215s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) check parameters -[0.215s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) check parameters -[0.215s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) discover -[0.215s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) discover -[0.215s] INFO:colcon.colcon_core.package_discovery:Crawling recursively for packages in '/home/hello-robot/ament_ws/src/stretch_web_teleop' -[0.215s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ignore', 'ignore_ament_install'] -[0.216s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore' -[0.216s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore_ament_install' -[0.216s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_pkg'] -[0.216s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_pkg' -[0.216s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_meta'] -[0.216s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_meta' -[0.216s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ros'] -[0.216s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ros' -[0.224s] DEBUG:colcon.colcon_core.package_identification:Package '.' with type 'ros.ament_cmake' and name 'stretch_web_teleop' -[0.224s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) using defaults -[0.224s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) discover -[0.224s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) using defaults -[0.224s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) discover -[0.224s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) using defaults -[0.235s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) check parameters -[0.235s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) discover -[0.237s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 33 installed packages in /home/hello-robot/ament_ws/install -[0.238s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 387 installed packages in /opt/ros/humble -[0.239s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) using defaults -[0.264s] Level 5:colcon.colcon_core.verb:set package 'stretch_web_teleop' build argument 'cmake_args' from command line to 'None' -[0.264s] Level 5:colcon.colcon_core.verb:set package 'stretch_web_teleop' build argument 'cmake_target' from command line to 'None' -[0.264s] Level 5:colcon.colcon_core.verb:set package 'stretch_web_teleop' build argument 'cmake_target_skip_unavailable' from command line to 'False' -[0.264s] Level 5:colcon.colcon_core.verb:set package 'stretch_web_teleop' build argument 'cmake_clean_cache' from command line to 'False' -[0.264s] Level 5:colcon.colcon_core.verb:set package 'stretch_web_teleop' build argument 'cmake_clean_first' from command line to 'False' -[0.264s] Level 5:colcon.colcon_core.verb:set package 'stretch_web_teleop' build argument 'cmake_force_configure' from command line to 'False' -[0.264s] Level 5:colcon.colcon_core.verb:set package 'stretch_web_teleop' build argument 'ament_cmake_args' from command line to 'None' -[0.264s] Level 5:colcon.colcon_core.verb:set package 'stretch_web_teleop' build argument 'catkin_cmake_args' from command line to 'None' -[0.264s] Level 5:colcon.colcon_core.verb:set package 'stretch_web_teleop' build argument 'catkin_skip_building_tests' from command line to 'False' -[0.264s] DEBUG:colcon.colcon_core.verb:Building package 'stretch_web_teleop' with the following arguments: {'ament_cmake_args': None, 'build_base': '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop', 'catkin_cmake_args': None, 'catkin_skip_building_tests': False, 'cmake_args': None, 'cmake_clean_cache': False, 'cmake_clean_first': False, 'cmake_force_configure': False, 'cmake_target': None, 'cmake_target_skip_unavailable': False, 'install_base': '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop', 'merge_install': False, 'path': '/home/hello-robot/ament_ws/src/stretch_web_teleop', 'symlink_install': False, 'test_result_base': None} -[0.264s] INFO:colcon.colcon_core.executor:Executing jobs using 'parallel' executor -[0.264s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete -[0.265s] INFO:colcon.colcon_ros.task.ament_cmake.build:Building ROS package in '/home/hello-robot/ament_ws/src/stretch_web_teleop' with build type 'ament_cmake' -[0.265s] INFO:colcon.colcon_cmake.task.cmake.build:Building CMake package in '/home/hello-robot/ament_ws/src/stretch_web_teleop' -[0.266s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_core.shell.bat': Not used on non-Windows systems -[0.266s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell -[0.266s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment -[0.272s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/hello-robot/ament_ws/install/tf2_web_republisher_py:/home/hello-robot/ament_ws/install/stretch_ros_tutorials:/home/hello-robot/ament_ws/install/stretch_funmap:/home/hello-robot/ament_ws/install/stretch_calibration:/home/hello-robot/ament_ws/install/stretch_demos:/home/hello-robot/ament_ws/install/stretch_deep_perception:/home/hello-robot/ament_ws/install/stretch_core:/home/hello-robot/ament_ws/install/respeaker_ros2:/home/hello-robot/ament_ws/install/hello_helpers:/opt/ros/humble /usr/bin/cmake /home/hello-robot/ament_ws/src/stretch_web_teleop -DCMAKE_INSTALL_PREFIX=/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop -[0.782s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/hello-robot/ament_ws/install/tf2_web_republisher_py:/home/hello-robot/ament_ws/install/stretch_ros_tutorials:/home/hello-robot/ament_ws/install/stretch_funmap:/home/hello-robot/ament_ws/install/stretch_calibration:/home/hello-robot/ament_ws/install/stretch_demos:/home/hello-robot/ament_ws/install/stretch_deep_perception:/home/hello-robot/ament_ws/install/stretch_core:/home/hello-robot/ament_ws/install/respeaker_ros2:/home/hello-robot/ament_ws/install/hello_helpers:/opt/ros/humble /usr/bin/cmake /home/hello-robot/ament_ws/src/stretch_web_teleop -DCMAKE_INSTALL_PREFIX=/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop -[0.782s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/hello-robot/ament_ws/install/tf2_web_republisher_py:/home/hello-robot/ament_ws/install/stretch_ros_tutorials:/home/hello-robot/ament_ws/install/stretch_funmap:/home/hello-robot/ament_ws/install/stretch_calibration:/home/hello-robot/ament_ws/install/stretch_demos:/home/hello-robot/ament_ws/install/stretch_deep_perception:/home/hello-robot/ament_ws/install/stretch_core:/home/hello-robot/ament_ws/install/respeaker_ros2:/home/hello-robot/ament_ws/install/hello_helpers:/opt/ros/humble /usr/bin/cmake --build /home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop -- -j16 -l16 -[0.811s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/hello-robot/ament_ws/install/tf2_web_republisher_py:/home/hello-robot/ament_ws/install/stretch_ros_tutorials:/home/hello-robot/ament_ws/install/stretch_funmap:/home/hello-robot/ament_ws/install/stretch_calibration:/home/hello-robot/ament_ws/install/stretch_demos:/home/hello-robot/ament_ws/install/stretch_deep_perception:/home/hello-robot/ament_ws/install/stretch_core:/home/hello-robot/ament_ws/install/respeaker_ros2:/home/hello-robot/ament_ws/install/hello_helpers:/opt/ros/humble /usr/bin/cmake --build /home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop -- -j16 -l16 -[0.834s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/hello-robot/ament_ws/install/tf2_web_republisher_py:/home/hello-robot/ament_ws/install/stretch_ros_tutorials:/home/hello-robot/ament_ws/install/stretch_funmap:/home/hello-robot/ament_ws/install/stretch_calibration:/home/hello-robot/ament_ws/install/stretch_demos:/home/hello-robot/ament_ws/install/stretch_deep_perception:/home/hello-robot/ament_ws/install/stretch_core:/home/hello-robot/ament_ws/install/respeaker_ros2:/home/hello-robot/ament_ws/install/hello_helpers:/opt/ros/humble /usr/bin/cmake --install /home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop -[0.842s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(stretch_web_teleop) -[0.843s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/hello-robot/ament_ws/install/tf2_web_republisher_py:/home/hello-robot/ament_ws/install/stretch_ros_tutorials:/home/hello-robot/ament_ws/install/stretch_funmap:/home/hello-robot/ament_ws/install/stretch_calibration:/home/hello-robot/ament_ws/install/stretch_demos:/home/hello-robot/ament_ws/install/stretch_deep_perception:/home/hello-robot/ament_ws/install/stretch_core:/home/hello-robot/ament_ws/install/respeaker_ros2:/home/hello-robot/ament_ws/install/hello_helpers:/opt/ros/humble /usr/bin/cmake --install /home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop -[0.844s] Level 1:colcon.colcon_core.environment:checking '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop' for CMake module files -[0.844s] Level 1:colcon.colcon_core.environment:checking '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop' for CMake config files -[0.845s] Level 1:colcon.colcon_core.shell:create_environment_hook('stretch_web_teleop', 'cmake_prefix_path') -[0.845s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/hook/cmake_prefix_path.ps1' -[0.845s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/hook/cmake_prefix_path.dsv' -[0.845s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/hook/cmake_prefix_path.sh' -[0.846s] Level 1:colcon.colcon_core.environment:checking '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/lib' -[0.846s] Level 1:colcon.colcon_core.environment:checking '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/bin' -[0.846s] Level 1:colcon.colcon_core.environment:checking '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/lib/pkgconfig/stretch_web_teleop.pc' -[0.846s] Level 1:colcon.colcon_core.environment:checking '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/lib/python3.10/site-packages' -[0.847s] Level 1:colcon.colcon_core.environment:checking '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/bin' -[0.847s] INFO:colcon.colcon_core.shell:Creating package script '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.ps1' -[0.847s] INFO:colcon.colcon_core.shell:Creating package descriptor '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.dsv' -[0.847s] INFO:colcon.colcon_core.shell:Creating package script '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.sh' -[0.848s] INFO:colcon.colcon_core.shell:Creating package script '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.bash' -[0.848s] INFO:colcon.colcon_core.shell:Creating package script '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.zsh' -[0.848s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/colcon-core/packages/stretch_web_teleop) -[0.864s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(stretch_web_teleop) -[0.864s] Level 1:colcon.colcon_core.environment:checking '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop' for CMake module files -[0.865s] Level 1:colcon.colcon_core.environment:checking '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop' for CMake config files -[0.865s] Level 1:colcon.colcon_core.shell:create_environment_hook('stretch_web_teleop', 'cmake_prefix_path') -[0.865s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/hook/cmake_prefix_path.ps1' -[0.865s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/hook/cmake_prefix_path.dsv' -[0.866s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/hook/cmake_prefix_path.sh' -[0.867s] Level 1:colcon.colcon_core.environment:checking '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/lib' -[0.867s] Level 1:colcon.colcon_core.environment:checking '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/bin' -[0.867s] Level 1:colcon.colcon_core.environment:checking '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/lib/pkgconfig/stretch_web_teleop.pc' -[0.867s] Level 1:colcon.colcon_core.environment:checking '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/lib/python3.10/site-packages' -[0.867s] Level 1:colcon.colcon_core.environment:checking '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/bin' -[0.867s] INFO:colcon.colcon_core.shell:Creating package script '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.ps1' -[0.868s] INFO:colcon.colcon_core.shell:Creating package descriptor '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.dsv' -[0.868s] INFO:colcon.colcon_core.shell:Creating package script '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.sh' -[0.868s] INFO:colcon.colcon_core.shell:Creating package script '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.bash' -[0.868s] INFO:colcon.colcon_core.shell:Creating package script '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.zsh' -[0.868s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/colcon-core/packages/stretch_web_teleop) -[0.868s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:closing loop -[0.869s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:loop closed -[0.869s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete finished with '0' -[0.869s] DEBUG:colcon.colcon_core.event_reactor:joining thread -[0.873s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.terminal_notifier': Not used on non-Darwin systems -[0.873s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.win32': Not used on non-Windows systems -[0.873s] INFO:colcon.colcon_notification.desktop_notification:Sending desktop notification using 'notify2' -[0.886s] DEBUG:colcon.colcon_core.event_reactor:joined thread -[0.886s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/local_setup.ps1' -[0.887s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/_local_setup_util_ps1.py' -[0.888s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/setup.ps1' -[0.891s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/local_setup.sh' -[0.891s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/_local_setup_util_sh.py' -[0.892s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/setup.sh' -[0.895s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/local_setup.bash' -[0.895s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/setup.bash' -[0.898s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/local_setup.zsh' -[0.898s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/setup.zsh' diff --git a/log/build_2024-04-29_21-21-16/stretch_web_teleop/command.log b/log/build_2024-04-29_21-21-16/stretch_web_teleop/command.log deleted file mode 100644 index ef246275..00000000 --- a/log/build_2024-04-29_21-21-16/stretch_web_teleop/command.log +++ /dev/null @@ -1,6 +0,0 @@ -Invoking command in '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/hello-robot/ament_ws/install/tf2_web_republisher_py:/home/hello-robot/ament_ws/install/stretch_ros_tutorials:/home/hello-robot/ament_ws/install/stretch_funmap:/home/hello-robot/ament_ws/install/stretch_calibration:/home/hello-robot/ament_ws/install/stretch_demos:/home/hello-robot/ament_ws/install/stretch_deep_perception:/home/hello-robot/ament_ws/install/stretch_core:/home/hello-robot/ament_ws/install/respeaker_ros2:/home/hello-robot/ament_ws/install/hello_helpers:/opt/ros/humble /usr/bin/cmake /home/hello-robot/ament_ws/src/stretch_web_teleop -DCMAKE_INSTALL_PREFIX=/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop -Invoked command in '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/hello-robot/ament_ws/install/tf2_web_republisher_py:/home/hello-robot/ament_ws/install/stretch_ros_tutorials:/home/hello-robot/ament_ws/install/stretch_funmap:/home/hello-robot/ament_ws/install/stretch_calibration:/home/hello-robot/ament_ws/install/stretch_demos:/home/hello-robot/ament_ws/install/stretch_deep_perception:/home/hello-robot/ament_ws/install/stretch_core:/home/hello-robot/ament_ws/install/respeaker_ros2:/home/hello-robot/ament_ws/install/hello_helpers:/opt/ros/humble /usr/bin/cmake /home/hello-robot/ament_ws/src/stretch_web_teleop -DCMAKE_INSTALL_PREFIX=/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop -Invoking command in '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/hello-robot/ament_ws/install/tf2_web_republisher_py:/home/hello-robot/ament_ws/install/stretch_ros_tutorials:/home/hello-robot/ament_ws/install/stretch_funmap:/home/hello-robot/ament_ws/install/stretch_calibration:/home/hello-robot/ament_ws/install/stretch_demos:/home/hello-robot/ament_ws/install/stretch_deep_perception:/home/hello-robot/ament_ws/install/stretch_core:/home/hello-robot/ament_ws/install/respeaker_ros2:/home/hello-robot/ament_ws/install/hello_helpers:/opt/ros/humble /usr/bin/cmake --build /home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop -- -j16 -l16 -Invoked command in '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/hello-robot/ament_ws/install/tf2_web_republisher_py:/home/hello-robot/ament_ws/install/stretch_ros_tutorials:/home/hello-robot/ament_ws/install/stretch_funmap:/home/hello-robot/ament_ws/install/stretch_calibration:/home/hello-robot/ament_ws/install/stretch_demos:/home/hello-robot/ament_ws/install/stretch_deep_perception:/home/hello-robot/ament_ws/install/stretch_core:/home/hello-robot/ament_ws/install/respeaker_ros2:/home/hello-robot/ament_ws/install/hello_helpers:/opt/ros/humble /usr/bin/cmake --build /home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop -- -j16 -l16 -Invoking command in '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/hello-robot/ament_ws/install/tf2_web_republisher_py:/home/hello-robot/ament_ws/install/stretch_ros_tutorials:/home/hello-robot/ament_ws/install/stretch_funmap:/home/hello-robot/ament_ws/install/stretch_calibration:/home/hello-robot/ament_ws/install/stretch_demos:/home/hello-robot/ament_ws/install/stretch_deep_perception:/home/hello-robot/ament_ws/install/stretch_core:/home/hello-robot/ament_ws/install/respeaker_ros2:/home/hello-robot/ament_ws/install/hello_helpers:/opt/ros/humble /usr/bin/cmake --install /home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop -Invoked command in '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/hello-robot/ament_ws/install/tf2_web_republisher_py:/home/hello-robot/ament_ws/install/stretch_ros_tutorials:/home/hello-robot/ament_ws/install/stretch_funmap:/home/hello-robot/ament_ws/install/stretch_calibration:/home/hello-robot/ament_ws/install/stretch_demos:/home/hello-robot/ament_ws/install/stretch_deep_perception:/home/hello-robot/ament_ws/install/stretch_core:/home/hello-robot/ament_ws/install/respeaker_ros2:/home/hello-robot/ament_ws/install/hello_helpers:/opt/ros/humble /usr/bin/cmake --install /home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop diff --git a/log/build_2024-04-29_21-21-16/stretch_web_teleop/stderr.log b/log/build_2024-04-29_21-21-16/stretch_web_teleop/stderr.log deleted file mode 100644 index e69de29b..00000000 diff --git a/log/build_2024-04-29_21-21-16/stretch_web_teleop/stdout.log b/log/build_2024-04-29_21-21-16/stretch_web_teleop/stdout.log deleted file mode 100644 index f3b86093..00000000 --- a/log/build_2024-04-29_21-21-16/stretch_web_teleop/stdout.log +++ /dev/null @@ -1,58 +0,0 @@ --- The C compiler identification is GNU 11.4.0 --- The CXX compiler identification is GNU 11.4.0 --- Detecting C compiler ABI info --- Detecting C compiler ABI info - done --- Check for working C compiler: /usr/bin/cc - skipped --- Detecting C compile features --- Detecting C compile features - done --- Detecting CXX compiler ABI info --- Detecting CXX compiler ABI info - done --- Check for working CXX compiler: /usr/bin/c++ - skipped --- Detecting CXX compile features --- Detecting CXX compile features - done --- Found ament_cmake: 1.3.8 (/opt/ros/humble/share/ament_cmake/cmake) --- Found Python3: /usr/bin/python3 (found version "3.10.12") found components: Interpreter --- Found rosbridge_server: 1.3.2 (/home/hello-robot/ament_ws/install/rosbridge_server/share/rosbridge_server/cmake) --- Configuring done --- Generating done --- Build files have been written to: /home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop --- Install configuration: "" --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/lib/stretch_web_teleop/configure_video_streams.py --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/lib/stretch_web_teleop/navigation_camera.py --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch/navigation_camera.launch.py --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch/gripper_camera.launch.py --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch/web_interface.launch.py --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch/multi_camera.launch.py --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/.gitkeep --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/rootCA.pem --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/stretch-se3-3031+6.pem --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/stretch-se3-3031+6-key.pem --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/rootCA-key.pem --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/configure_video_streams.py --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/navigation_camera.py --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/old_navigation_camera.py --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/gripper_camera.py --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/blank_image.png --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/config --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/config/configure_video_streams_params.yaml --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/maps --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/maps/map.pgm --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/maps/map.yaml --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/ament_index/resource_index/package_run_dependencies/stretch_web_teleop --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/ament_index/resource_index/parent_prefix_path/stretch_web_teleop --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/environment/ament_prefix_path.sh --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/environment/ament_prefix_path.dsv --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/environment/path.sh --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/environment/path.dsv --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.bash --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.sh --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.zsh --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.dsv --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.dsv --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/ament_index/resource_index/packages/stretch_web_teleop --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/cmake/stretch_web_teleopConfig.cmake --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/cmake/stretch_web_teleopConfig-version.cmake --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.xml diff --git a/log/build_2024-04-29_21-21-16/stretch_web_teleop/stdout_stderr.log b/log/build_2024-04-29_21-21-16/stretch_web_teleop/stdout_stderr.log deleted file mode 100644 index f3b86093..00000000 --- a/log/build_2024-04-29_21-21-16/stretch_web_teleop/stdout_stderr.log +++ /dev/null @@ -1,58 +0,0 @@ --- The C compiler identification is GNU 11.4.0 --- The CXX compiler identification is GNU 11.4.0 --- Detecting C compiler ABI info --- Detecting C compiler ABI info - done --- Check for working C compiler: /usr/bin/cc - skipped --- Detecting C compile features --- Detecting C compile features - done --- Detecting CXX compiler ABI info --- Detecting CXX compiler ABI info - done --- Check for working CXX compiler: /usr/bin/c++ - skipped --- Detecting CXX compile features --- Detecting CXX compile features - done --- Found ament_cmake: 1.3.8 (/opt/ros/humble/share/ament_cmake/cmake) --- Found Python3: /usr/bin/python3 (found version "3.10.12") found components: Interpreter --- Found rosbridge_server: 1.3.2 (/home/hello-robot/ament_ws/install/rosbridge_server/share/rosbridge_server/cmake) --- Configuring done --- Generating done --- Build files have been written to: /home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop --- Install configuration: "" --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/lib/stretch_web_teleop/configure_video_streams.py --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/lib/stretch_web_teleop/navigation_camera.py --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch/navigation_camera.launch.py --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch/gripper_camera.launch.py --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch/web_interface.launch.py --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch/multi_camera.launch.py --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/.gitkeep --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/rootCA.pem --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/stretch-se3-3031+6.pem --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/stretch-se3-3031+6-key.pem --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/rootCA-key.pem --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/configure_video_streams.py --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/navigation_camera.py --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/old_navigation_camera.py --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/gripper_camera.py --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/blank_image.png --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/config --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/config/configure_video_streams_params.yaml --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/maps --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/maps/map.pgm --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/maps/map.yaml --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/ament_index/resource_index/package_run_dependencies/stretch_web_teleop --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/ament_index/resource_index/parent_prefix_path/stretch_web_teleop --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/environment/ament_prefix_path.sh --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/environment/ament_prefix_path.dsv --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/environment/path.sh --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/environment/path.dsv --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.bash --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.sh --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.zsh --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.dsv --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.dsv --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/ament_index/resource_index/packages/stretch_web_teleop --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/cmake/stretch_web_teleopConfig.cmake --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/cmake/stretch_web_teleopConfig-version.cmake --- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.xml diff --git a/log/build_2024-04-29_21-21-16/stretch_web_teleop/streams.log b/log/build_2024-04-29_21-21-16/stretch_web_teleop/streams.log deleted file mode 100644 index 56f41052..00000000 --- a/log/build_2024-04-29_21-21-16/stretch_web_teleop/streams.log +++ /dev/null @@ -1,64 +0,0 @@ -[0.007s] Invoking command in '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/hello-robot/ament_ws/install/tf2_web_republisher_py:/home/hello-robot/ament_ws/install/stretch_ros_tutorials:/home/hello-robot/ament_ws/install/stretch_funmap:/home/hello-robot/ament_ws/install/stretch_calibration:/home/hello-robot/ament_ws/install/stretch_demos:/home/hello-robot/ament_ws/install/stretch_deep_perception:/home/hello-robot/ament_ws/install/stretch_core:/home/hello-robot/ament_ws/install/respeaker_ros2:/home/hello-robot/ament_ws/install/hello_helpers:/opt/ros/humble /usr/bin/cmake /home/hello-robot/ament_ws/src/stretch_web_teleop -DCMAKE_INSTALL_PREFIX=/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop -[0.048s] -- The C compiler identification is GNU 11.4.0 -[0.105s] -- The CXX compiler identification is GNU 11.4.0 -[0.111s] -- Detecting C compiler ABI info -[0.163s] -- Detecting C compiler ABI info - done -[0.167s] -- Check for working C compiler: /usr/bin/cc - skipped -[0.168s] -- Detecting C compile features -[0.168s] -- Detecting C compile features - done -[0.170s] -- Detecting CXX compiler ABI info -[0.225s] -- Detecting CXX compiler ABI info - done -[0.229s] -- Check for working CXX compiler: /usr/bin/c++ - skipped -[0.229s] -- Detecting CXX compile features -[0.230s] -- Detecting CXX compile features - done -[0.233s] -- Found ament_cmake: 1.3.8 (/opt/ros/humble/share/ament_cmake/cmake) -[0.371s] -- Found Python3: /usr/bin/python3 (found version "3.10.12") found components: Interpreter -[0.461s] -- Found rosbridge_server: 1.3.2 (/home/hello-robot/ament_ws/install/rosbridge_server/share/rosbridge_server/cmake) -[0.510s] -- Configuring done -[0.511s] -- Generating done -[0.512s] -- Build files have been written to: /home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop -[0.516s] Invoked command in '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/hello-robot/ament_ws/install/tf2_web_republisher_py:/home/hello-robot/ament_ws/install/stretch_ros_tutorials:/home/hello-robot/ament_ws/install/stretch_funmap:/home/hello-robot/ament_ws/install/stretch_calibration:/home/hello-robot/ament_ws/install/stretch_demos:/home/hello-robot/ament_ws/install/stretch_deep_perception:/home/hello-robot/ament_ws/install/stretch_core:/home/hello-robot/ament_ws/install/respeaker_ros2:/home/hello-robot/ament_ws/install/hello_helpers:/opt/ros/humble /usr/bin/cmake /home/hello-robot/ament_ws/src/stretch_web_teleop -DCMAKE_INSTALL_PREFIX=/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop -[0.517s] Invoking command in '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/hello-robot/ament_ws/install/tf2_web_republisher_py:/home/hello-robot/ament_ws/install/stretch_ros_tutorials:/home/hello-robot/ament_ws/install/stretch_funmap:/home/hello-robot/ament_ws/install/stretch_calibration:/home/hello-robot/ament_ws/install/stretch_demos:/home/hello-robot/ament_ws/install/stretch_deep_perception:/home/hello-robot/ament_ws/install/stretch_core:/home/hello-robot/ament_ws/install/respeaker_ros2:/home/hello-robot/ament_ws/install/hello_helpers:/opt/ros/humble /usr/bin/cmake --build /home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop -- -j16 -l16 -[0.546s] Invoked command in '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/hello-robot/ament_ws/install/tf2_web_republisher_py:/home/hello-robot/ament_ws/install/stretch_ros_tutorials:/home/hello-robot/ament_ws/install/stretch_funmap:/home/hello-robot/ament_ws/install/stretch_calibration:/home/hello-robot/ament_ws/install/stretch_demos:/home/hello-robot/ament_ws/install/stretch_deep_perception:/home/hello-robot/ament_ws/install/stretch_core:/home/hello-robot/ament_ws/install/respeaker_ros2:/home/hello-robot/ament_ws/install/hello_helpers:/opt/ros/humble /usr/bin/cmake --build /home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop -- -j16 -l16 -[0.568s] Invoking command in '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/hello-robot/ament_ws/install/tf2_web_republisher_py:/home/hello-robot/ament_ws/install/stretch_ros_tutorials:/home/hello-robot/ament_ws/install/stretch_funmap:/home/hello-robot/ament_ws/install/stretch_calibration:/home/hello-robot/ament_ws/install/stretch_demos:/home/hello-robot/ament_ws/install/stretch_deep_perception:/home/hello-robot/ament_ws/install/stretch_core:/home/hello-robot/ament_ws/install/respeaker_ros2:/home/hello-robot/ament_ws/install/hello_helpers:/opt/ros/humble /usr/bin/cmake --install /home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop -[0.573s] -- Install configuration: "" -[0.573s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/lib/stretch_web_teleop/configure_video_streams.py -[0.573s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/lib/stretch_web_teleop/navigation_camera.py -[0.574s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch -[0.574s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch/navigation_camera.launch.py -[0.574s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch/gripper_camera.launch.py -[0.574s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch/web_interface.launch.py -[0.574s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch/multi_camera.launch.py -[0.574s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates -[0.574s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/.gitkeep -[0.574s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/rootCA.pem -[0.574s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/stretch-se3-3031+6.pem -[0.574s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/stretch-se3-3031+6-key.pem -[0.574s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/rootCA-key.pem -[0.574s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes -[0.575s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/configure_video_streams.py -[0.575s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/navigation_camera.py -[0.575s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/old_navigation_camera.py -[0.575s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/gripper_camera.py -[0.575s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/blank_image.png -[0.575s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/config -[0.575s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/config/configure_video_streams_params.yaml -[0.575s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/maps -[0.575s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/maps/map.pgm -[0.575s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/maps/map.yaml -[0.575s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/ament_index/resource_index/package_run_dependencies/stretch_web_teleop -[0.575s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/ament_index/resource_index/parent_prefix_path/stretch_web_teleop -[0.575s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/environment/ament_prefix_path.sh -[0.576s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/environment/ament_prefix_path.dsv -[0.576s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/environment/path.sh -[0.576s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/environment/path.dsv -[0.576s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.bash -[0.576s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.sh -[0.576s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.zsh -[0.576s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.dsv -[0.576s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.dsv -[0.576s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/ament_index/resource_index/packages/stretch_web_teleop -[0.576s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/cmake/stretch_web_teleopConfig.cmake -[0.576s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/cmake/stretch_web_teleopConfig-version.cmake -[0.576s] -- Installing: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.xml -[0.577s] Invoked command in '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/hello-robot/ament_ws/install/tf2_web_republisher_py:/home/hello-robot/ament_ws/install/stretch_ros_tutorials:/home/hello-robot/ament_ws/install/stretch_funmap:/home/hello-robot/ament_ws/install/stretch_calibration:/home/hello-robot/ament_ws/install/stretch_demos:/home/hello-robot/ament_ws/install/stretch_deep_perception:/home/hello-robot/ament_ws/install/stretch_core:/home/hello-robot/ament_ws/install/respeaker_ros2:/home/hello-robot/ament_ws/install/hello_helpers:/opt/ros/humble /usr/bin/cmake --install /home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop diff --git a/log/build_2024-04-29_21-23-12/events.log b/log/build_2024-04-29_21-23-12/events.log deleted file mode 100644 index dd0bec7a..00000000 --- a/log/build_2024-04-29_21-23-12/events.log +++ /dev/null @@ -1,52 +0,0 @@ -[0.000000] (-) TimerEvent: {} -[0.000459] (stretch_web_teleop) JobQueued: {'identifier': 'stretch_web_teleop', 'dependencies': OrderedDict()} -[0.000496] (stretch_web_teleop) JobStarted: {'identifier': 'stretch_web_teleop'} -[0.006329] (stretch_web_teleop) JobProgress: {'identifier': 'stretch_web_teleop', 'progress': 'cmake'} -[0.006712] (stretch_web_teleop) JobProgress: {'identifier': 'stretch_web_teleop', 'progress': 'build'} -[0.007138] (stretch_web_teleop) Command: {'cmd': ['/usr/bin/cmake', '--build', '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop', '--', '-j16', '-l16'], 'cwd': '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop', 'env': OrderedDict([('HELLO_FLEET_ID', 'stretch-se3-3031'), ('LESSOPEN', '| /usr/bin/lesspipe %s'), ('PYTHONWARNINGS', 'ignore:setup.py install is deprecated,ignore:Invalid dash-separated options,ignore:pkg_resources is deprecated as an API,ignore:Usage of dash-separated'), ('USER', 'hello-robot'), ('XDG_SESSION_TYPE', 'x11'), ('HELLO_FLEET_PATH', '/home/hello-robot/stretch_user'), ('SHLVL', '1'), ('LD_LIBRARY_PATH', '/home/hello-robot/ament_ws/install/tf2_web_republisher/lib:/home/hello-robot/ament_ws/install/speech_recognition_msgs/lib:/home/hello-robot/ament_ws/install/sound_play_msgs/lib:/home/hello-robot/ament_ws/install/rosbridge_test_msgs/lib:/home/hello-robot/ament_ws/install/rosbridge_msgs/lib:/home/hello-robot/ament_ws/install/rosapi_msgs/lib:/home/hello-robot/ament_ws/install/realsense2_camera/lib:/home/hello-robot/ament_ws/install/realsense2_camera_msgs/lib:/home/hello-robot/ament_ws/install/audio_play/lib:/home/hello-robot/ament_ws/install/audio_capture/lib:/home/hello-robot/ament_ws/install/audio_common_msgs/lib:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib'), ('HOME', '/home/hello-robot'), ('OLDPWD', '/home/hello-robot/ament_ws'), ('DESKTOP_SESSION', 'ubuntu'), ('ROS_PYTHON_VERSION', '3'), ('GNOME_SHELL_SESSION_MODE', 'ubuntu'), ('GTK_MODULES', 'gail:atk-bridge'), ('SYSTEMD_EXEC_PID', '2243'), ('DBUS_SESSION_BUS_ADDRESS', 'unix:path=/run/user/1000/bus'), ('COLORTERM', 'truecolor'), ('_colcon_cd_root', '/home/hello-robot'), ('COLCON_PREFIX_PATH', '/home/hello-robot/ament_ws/install'), ('ROS_DISTRO', 'humble'), ('GTK_IM_MODULE', 'ibus'), ('LOGNAME', 'hello-robot'), ('_', '/usr/bin/colcon'), ('ROS_VERSION', '2'), ('XDG_SESSION_CLASS', 'user'), ('USERNAME', 'hello-robot'), ('TERM', 'xterm-256color'), ('GNOME_DESKTOP_SESSION_ID', 'this-is-deprecated'), ('ROS_LOCALHOST_ONLY', '0'), ('WINDOWPATH', '2'), ('PATH', '/home/hello-robot/ament_ws/install/audio_play/bin:/home/hello-robot/ament_ws/install/audio_capture/bin:/opt/ros/humble/bin:/home/hello-robot/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/snap/bin:/home/hello-robot/.local/bin'), ('SESSION_MANAGER', 'local/stretch-se3-3031:@/tmp/.ICE-unix/2219,unix/stretch-se3-3031:/tmp/.ICE-unix/2219'), ('XDG_MENU_PREFIX', 'gnome-'), ('GNOME_TERMINAL_SCREEN', '/org/gnome/Terminal/screen/6c436525_4ed9_4c42_ad01_1841cce5a788'), ('XDG_RUNTIME_DIR', '/run/user/1000'), ('DISPLAY', ':0'), ('LANG', 'en_US.UTF-8'), ('XDG_CURRENT_DESKTOP', 'ubuntu:GNOME'), ('XMODIFIERS', '@im=ibus'), ('XDG_SESSION_DESKTOP', 'ubuntu'), ('XAUTHORITY', '/run/user/1000/gdm/Xauthority'), ('LS_COLORS', 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.webp=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:'), ('GNOME_TERMINAL_SERVICE', ':1.92'), ('SSH_AGENT_LAUNCHER', 'gnome-keyring'), ('SSH_AUTH_SOCK', '/run/user/1000/keyring/ssh'), ('ROS_DOMAIN_ID', '22'), ('AMENT_PREFIX_PATH', 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'shell': False} -[0.062562] (stretch_web_teleop) StdoutLine: {'line': b'-- Install configuration: ""\n'} -[0.062770] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/lib/stretch_web_teleop/configure_video_streams.py\n'} -[0.062858] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/lib/stretch_web_teleop/navigation_camera.py\n'} -[0.062927] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch\n'} -[0.062992] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch/navigation_camera.launch.py\n'} -[0.063057] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch/gripper_camera.launch.py\n'} -[0.063119] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch/web_interface.launch.py\n'} -[0.063182] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch/multi_camera.launch.py\n'} -[0.063244] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates\n'} -[0.063306] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/.gitkeep\n'} -[0.063369] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/rootCA.pem\n'} -[0.063431] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/stretch-se3-3031+6.pem\n'} -[0.063497] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/stretch-se3-3031+6-key.pem\n'} -[0.063739] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/rootCA-key.pem\n'} -[0.063960] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes\n'} -[0.064008] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/configure_video_streams.py\n'} -[0.064048] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/navigation_camera.py\n'} -[0.064090] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/old_navigation_camera.py\n'} -[0.064521] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/gripper_camera.py\n'} -[0.064622] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/blank_image.png\n'} -[0.064664] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/config\n'} -[0.064701] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/config/configure_video_streams_params.yaml\n'} -[0.064738] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/maps\n'} -[0.064771] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/maps/map.pgm\n'} -[0.064805] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/maps/map.yaml\n'} -[0.064837] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/ament_index/resource_index/package_run_dependencies/stretch_web_teleop\n'} -[0.064871] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/ament_index/resource_index/parent_prefix_path/stretch_web_teleop\n'} -[0.064903] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/environment/ament_prefix_path.sh\n'} -[0.064936] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/environment/ament_prefix_path.dsv\n'} -[0.064969] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/environment/path.sh\n'} -[0.065029] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/environment/path.dsv\n'} -[0.065062] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.bash\n'} -[0.065095] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.sh\n'} -[0.065128] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.zsh\n'} -[0.065177] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.dsv\n'} -[0.065228] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.dsv\n'} -[0.065261] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/ament_index/resource_index/packages/stretch_web_teleop\n'} -[0.065293] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/cmake/stretch_web_teleopConfig.cmake\n'} -[0.065326] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/cmake/stretch_web_teleopConfig-version.cmake\n'} -[0.065359] (stretch_web_teleop) StdoutLine: {'line': b'-- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.xml\n'} -[0.065391] (stretch_web_teleop) CommandEnded: {'returncode': 0} -[0.090631] (stretch_web_teleop) JobEnded: {'identifier': 'stretch_web_teleop', 'rc': 0} -[0.091050] (-) EventReactorShutdown: {} diff --git a/log/build_2024-04-29_21-23-12/logger_all.log b/log/build_2024-04-29_21-23-12/logger_all.log deleted file mode 100644 index 3d2e6a20..00000000 --- a/log/build_2024-04-29_21-23-12/logger_all.log +++ /dev/null @@ -1,104 +0,0 @@ -[0.085s] DEBUG:colcon:Command line arguments: ['/usr/bin/colcon', 'build'] -[0.085s] 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=16, 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, mixin_files=None, mixin=None, verb_parser=, verb_extension=, main=>, mixin_verb=('build',)) -[0.217s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) check parameters -[0.217s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) check parameters -[0.217s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) check parameters -[0.217s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) check parameters -[0.217s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) discover -[0.217s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) discover -[0.217s] INFO:colcon.colcon_core.package_discovery:Crawling recursively for packages in '/home/hello-robot/ament_ws/src/stretch_web_teleop' -[0.217s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ignore', 'ignore_ament_install'] -[0.217s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore' -[0.217s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore_ament_install' -[0.217s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_pkg'] -[0.217s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_pkg' -[0.217s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_meta'] -[0.217s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_meta' -[0.217s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ros'] -[0.217s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ros' -[0.225s] DEBUG:colcon.colcon_core.package_identification:Package '.' with type 'ros.ament_cmake' and name 'stretch_web_teleop' -[0.225s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) using defaults -[0.225s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) discover -[0.225s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) using defaults -[0.225s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) discover -[0.225s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) using defaults -[0.237s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) check parameters -[0.237s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) discover -[0.239s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 33 installed packages in /home/hello-robot/ament_ws/install -[0.240s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 387 installed packages in /opt/ros/humble -[0.241s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) using defaults -[0.266s] Level 5:colcon.colcon_core.verb:set package 'stretch_web_teleop' build argument 'cmake_args' from command line to 'None' -[0.266s] Level 5:colcon.colcon_core.verb:set package 'stretch_web_teleop' build argument 'cmake_target' from command line to 'None' -[0.266s] Level 5:colcon.colcon_core.verb:set package 'stretch_web_teleop' build argument 'cmake_target_skip_unavailable' from command line to 'False' -[0.266s] Level 5:colcon.colcon_core.verb:set package 'stretch_web_teleop' build argument 'cmake_clean_cache' from command line to 'False' -[0.266s] Level 5:colcon.colcon_core.verb:set package 'stretch_web_teleop' build argument 'cmake_clean_first' from command line to 'False' -[0.266s] Level 5:colcon.colcon_core.verb:set package 'stretch_web_teleop' build argument 'cmake_force_configure' from command line to 'False' -[0.266s] Level 5:colcon.colcon_core.verb:set package 'stretch_web_teleop' build argument 'ament_cmake_args' from command line to 'None' -[0.266s] Level 5:colcon.colcon_core.verb:set package 'stretch_web_teleop' build argument 'catkin_cmake_args' from command line to 'None' -[0.266s] Level 5:colcon.colcon_core.verb:set package 'stretch_web_teleop' build argument 'catkin_skip_building_tests' from command line to 'False' -[0.266s] DEBUG:colcon.colcon_core.verb:Building package 'stretch_web_teleop' with the following arguments: {'ament_cmake_args': None, 'build_base': '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop', 'catkin_cmake_args': None, 'catkin_skip_building_tests': False, 'cmake_args': None, 'cmake_clean_cache': False, 'cmake_clean_first': False, 'cmake_force_configure': False, 'cmake_target': None, 'cmake_target_skip_unavailable': False, 'install_base': '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop', 'merge_install': False, 'path': '/home/hello-robot/ament_ws/src/stretch_web_teleop', 'symlink_install': False, 'test_result_base': None} -[0.266s] INFO:colcon.colcon_core.executor:Executing jobs using 'parallel' executor -[0.267s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete -[0.267s] INFO:colcon.colcon_ros.task.ament_cmake.build:Building ROS package in '/home/hello-robot/ament_ws/src/stretch_web_teleop' with build type 'ament_cmake' -[0.267s] INFO:colcon.colcon_cmake.task.cmake.build:Building CMake package in '/home/hello-robot/ament_ws/src/stretch_web_teleop' -[0.268s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_core.shell.bat': Not used on non-Windows systems -[0.268s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell -[0.268s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment -[0.276s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/hello-robot/ament_ws/install/tf2_web_republisher_py:/home/hello-robot/ament_ws/install/stretch_ros_tutorials:/home/hello-robot/ament_ws/install/stretch_funmap:/home/hello-robot/ament_ws/install/stretch_calibration:/home/hello-robot/ament_ws/install/stretch_demos:/home/hello-robot/ament_ws/install/stretch_deep_perception:/home/hello-robot/ament_ws/install/stretch_core:/home/hello-robot/ament_ws/install/respeaker_ros2:/home/hello-robot/ament_ws/install/hello_helpers:/opt/ros/humble /usr/bin/cmake --build /home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop -- -j16 -l16 -[0.303s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/hello-robot/ament_ws/install/tf2_web_republisher_py:/home/hello-robot/ament_ws/install/stretch_ros_tutorials:/home/hello-robot/ament_ws/install/stretch_funmap:/home/hello-robot/ament_ws/install/stretch_calibration:/home/hello-robot/ament_ws/install/stretch_demos:/home/hello-robot/ament_ws/install/stretch_deep_perception:/home/hello-robot/ament_ws/install/stretch_core:/home/hello-robot/ament_ws/install/respeaker_ros2:/home/hello-robot/ament_ws/install/hello_helpers:/opt/ros/humble /usr/bin/cmake --build /home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop -- -j16 -l16 -[0.324s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/hello-robot/ament_ws/install/tf2_web_republisher_py:/home/hello-robot/ament_ws/install/stretch_ros_tutorials:/home/hello-robot/ament_ws/install/stretch_funmap:/home/hello-robot/ament_ws/install/stretch_calibration:/home/hello-robot/ament_ws/install/stretch_demos:/home/hello-robot/ament_ws/install/stretch_deep_perception:/home/hello-robot/ament_ws/install/stretch_core:/home/hello-robot/ament_ws/install/respeaker_ros2:/home/hello-robot/ament_ws/install/hello_helpers:/opt/ros/humble /usr/bin/cmake --install /home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop -[0.331s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(stretch_web_teleop) -[0.332s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/hello-robot/ament_ws/install/tf2_web_republisher_py:/home/hello-robot/ament_ws/install/stretch_ros_tutorials:/home/hello-robot/ament_ws/install/stretch_funmap:/home/hello-robot/ament_ws/install/stretch_calibration:/home/hello-robot/ament_ws/install/stretch_demos:/home/hello-robot/ament_ws/install/stretch_deep_perception:/home/hello-robot/ament_ws/install/stretch_core:/home/hello-robot/ament_ws/install/respeaker_ros2:/home/hello-robot/ament_ws/install/hello_helpers:/opt/ros/humble /usr/bin/cmake --install /home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop -[0.334s] Level 1:colcon.colcon_core.environment:checking '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop' for CMake module files -[0.334s] Level 1:colcon.colcon_core.environment:checking '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop' for CMake config files -[0.334s] Level 1:colcon.colcon_core.shell:create_environment_hook('stretch_web_teleop', 'cmake_prefix_path') -[0.334s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/hook/cmake_prefix_path.ps1' -[0.335s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/hook/cmake_prefix_path.dsv' -[0.335s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/hook/cmake_prefix_path.sh' -[0.336s] Level 1:colcon.colcon_core.environment:checking '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/lib' -[0.336s] Level 1:colcon.colcon_core.environment:checking '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/bin' -[0.336s] Level 1:colcon.colcon_core.environment:checking '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/lib/pkgconfig/stretch_web_teleop.pc' -[0.336s] Level 1:colcon.colcon_core.environment:checking '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/lib/python3.10/site-packages' -[0.336s] Level 1:colcon.colcon_core.environment:checking '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/bin' -[0.336s] INFO:colcon.colcon_core.shell:Creating package script '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.ps1' -[0.337s] INFO:colcon.colcon_core.shell:Creating package descriptor '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.dsv' -[0.337s] INFO:colcon.colcon_core.shell:Creating package script '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.sh' -[0.338s] INFO:colcon.colcon_core.shell:Creating package script '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.bash' -[0.338s] INFO:colcon.colcon_core.shell:Creating package script '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.zsh' -[0.338s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/colcon-core/packages/stretch_web_teleop) -[0.354s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(stretch_web_teleop) -[0.354s] Level 1:colcon.colcon_core.environment:checking '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop' for CMake module files -[0.354s] Level 1:colcon.colcon_core.environment:checking '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop' for CMake config files -[0.354s] Level 1:colcon.colcon_core.shell:create_environment_hook('stretch_web_teleop', 'cmake_prefix_path') -[0.354s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/hook/cmake_prefix_path.ps1' -[0.355s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/hook/cmake_prefix_path.dsv' -[0.355s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/hook/cmake_prefix_path.sh' -[0.355s] Level 1:colcon.colcon_core.environment:checking '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/lib' -[0.355s] Level 1:colcon.colcon_core.environment:checking '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/bin' -[0.355s] Level 1:colcon.colcon_core.environment:checking '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/lib/pkgconfig/stretch_web_teleop.pc' -[0.356s] Level 1:colcon.colcon_core.environment:checking '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/lib/python3.10/site-packages' -[0.356s] Level 1:colcon.colcon_core.environment:checking '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/bin' -[0.356s] INFO:colcon.colcon_core.shell:Creating package script '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.ps1' -[0.356s] INFO:colcon.colcon_core.shell:Creating package descriptor '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.dsv' -[0.356s] INFO:colcon.colcon_core.shell:Creating package script '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.sh' -[0.357s] INFO:colcon.colcon_core.shell:Creating package script '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.bash' -[0.357s] INFO:colcon.colcon_core.shell:Creating package script '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.zsh' -[0.357s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/colcon-core/packages/stretch_web_teleop) -[0.357s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:closing loop -[0.357s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:loop closed -[0.357s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete finished with '0' -[0.357s] DEBUG:colcon.colcon_core.event_reactor:joining thread -[0.361s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.terminal_notifier': Not used on non-Darwin systems -[0.361s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.win32': Not used on non-Windows systems -[0.361s] INFO:colcon.colcon_notification.desktop_notification:Sending desktop notification using 'notify2' -[0.374s] DEBUG:colcon.colcon_core.event_reactor:joined thread -[0.374s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/local_setup.ps1' -[0.375s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/_local_setup_util_ps1.py' -[0.376s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/setup.ps1' -[0.377s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/local_setup.sh' -[0.377s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/_local_setup_util_sh.py' -[0.378s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/setup.sh' -[0.379s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/local_setup.bash' -[0.380s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/setup.bash' -[0.381s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/local_setup.zsh' -[0.381s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/hello-robot/ament_ws/src/stretch_web_teleop/install/setup.zsh' diff --git a/log/build_2024-04-29_21-23-12/stretch_web_teleop/command.log b/log/build_2024-04-29_21-23-12/stretch_web_teleop/command.log deleted file mode 100644 index 7ebe0c07..00000000 --- a/log/build_2024-04-29_21-23-12/stretch_web_teleop/command.log +++ /dev/null @@ -1,4 +0,0 @@ -Invoking command in '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/hello-robot/ament_ws/install/tf2_web_republisher_py:/home/hello-robot/ament_ws/install/stretch_ros_tutorials:/home/hello-robot/ament_ws/install/stretch_funmap:/home/hello-robot/ament_ws/install/stretch_calibration:/home/hello-robot/ament_ws/install/stretch_demos:/home/hello-robot/ament_ws/install/stretch_deep_perception:/home/hello-robot/ament_ws/install/stretch_core:/home/hello-robot/ament_ws/install/respeaker_ros2:/home/hello-robot/ament_ws/install/hello_helpers:/opt/ros/humble /usr/bin/cmake --build /home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop -- -j16 -l16 -Invoked command in '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/hello-robot/ament_ws/install/tf2_web_republisher_py:/home/hello-robot/ament_ws/install/stretch_ros_tutorials:/home/hello-robot/ament_ws/install/stretch_funmap:/home/hello-robot/ament_ws/install/stretch_calibration:/home/hello-robot/ament_ws/install/stretch_demos:/home/hello-robot/ament_ws/install/stretch_deep_perception:/home/hello-robot/ament_ws/install/stretch_core:/home/hello-robot/ament_ws/install/respeaker_ros2:/home/hello-robot/ament_ws/install/hello_helpers:/opt/ros/humble /usr/bin/cmake --build /home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop -- -j16 -l16 -Invoking command in '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/hello-robot/ament_ws/install/tf2_web_republisher_py:/home/hello-robot/ament_ws/install/stretch_ros_tutorials:/home/hello-robot/ament_ws/install/stretch_funmap:/home/hello-robot/ament_ws/install/stretch_calibration:/home/hello-robot/ament_ws/install/stretch_demos:/home/hello-robot/ament_ws/install/stretch_deep_perception:/home/hello-robot/ament_ws/install/stretch_core:/home/hello-robot/ament_ws/install/respeaker_ros2:/home/hello-robot/ament_ws/install/hello_helpers:/opt/ros/humble /usr/bin/cmake --install /home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop -Invoked command in '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/hello-robot/ament_ws/install/tf2_web_republisher_py:/home/hello-robot/ament_ws/install/stretch_ros_tutorials:/home/hello-robot/ament_ws/install/stretch_funmap:/home/hello-robot/ament_ws/install/stretch_calibration:/home/hello-robot/ament_ws/install/stretch_demos:/home/hello-robot/ament_ws/install/stretch_deep_perception:/home/hello-robot/ament_ws/install/stretch_core:/home/hello-robot/ament_ws/install/respeaker_ros2:/home/hello-robot/ament_ws/install/hello_helpers:/opt/ros/humble /usr/bin/cmake --install /home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop diff --git a/log/build_2024-04-29_21-23-12/stretch_web_teleop/stderr.log b/log/build_2024-04-29_21-23-12/stretch_web_teleop/stderr.log deleted file mode 100644 index e69de29b..00000000 diff --git a/log/build_2024-04-29_21-23-12/stretch_web_teleop/stdout.log b/log/build_2024-04-29_21-23-12/stretch_web_teleop/stdout.log deleted file mode 100644 index 6e9784b1..00000000 --- a/log/build_2024-04-29_21-23-12/stretch_web_teleop/stdout.log +++ /dev/null @@ -1,40 +0,0 @@ --- Install configuration: "" --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/lib/stretch_web_teleop/configure_video_streams.py --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/lib/stretch_web_teleop/navigation_camera.py --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch/navigation_camera.launch.py --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch/gripper_camera.launch.py --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch/web_interface.launch.py --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch/multi_camera.launch.py --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/.gitkeep --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/rootCA.pem --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/stretch-se3-3031+6.pem --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/stretch-se3-3031+6-key.pem --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/rootCA-key.pem --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/configure_video_streams.py --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/navigation_camera.py --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/old_navigation_camera.py --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/gripper_camera.py --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/blank_image.png --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/config --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/config/configure_video_streams_params.yaml --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/maps --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/maps/map.pgm --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/maps/map.yaml --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/ament_index/resource_index/package_run_dependencies/stretch_web_teleop --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/ament_index/resource_index/parent_prefix_path/stretch_web_teleop --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/environment/ament_prefix_path.sh --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/environment/ament_prefix_path.dsv --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/environment/path.sh --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/environment/path.dsv --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.bash --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.sh --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.zsh --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.dsv --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.dsv --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/ament_index/resource_index/packages/stretch_web_teleop --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/cmake/stretch_web_teleopConfig.cmake --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/cmake/stretch_web_teleopConfig-version.cmake --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.xml diff --git a/log/build_2024-04-29_21-23-12/stretch_web_teleop/stdout_stderr.log b/log/build_2024-04-29_21-23-12/stretch_web_teleop/stdout_stderr.log deleted file mode 100644 index 6e9784b1..00000000 --- a/log/build_2024-04-29_21-23-12/stretch_web_teleop/stdout_stderr.log +++ /dev/null @@ -1,40 +0,0 @@ --- Install configuration: "" --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/lib/stretch_web_teleop/configure_video_streams.py --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/lib/stretch_web_teleop/navigation_camera.py --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch/navigation_camera.launch.py --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch/gripper_camera.launch.py --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch/web_interface.launch.py --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch/multi_camera.launch.py --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/.gitkeep --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/rootCA.pem --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/stretch-se3-3031+6.pem --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/stretch-se3-3031+6-key.pem --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/rootCA-key.pem --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/configure_video_streams.py --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/navigation_camera.py --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/old_navigation_camera.py --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/gripper_camera.py --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/blank_image.png --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/config --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/config/configure_video_streams_params.yaml --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/maps --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/maps/map.pgm --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/maps/map.yaml --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/ament_index/resource_index/package_run_dependencies/stretch_web_teleop --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/ament_index/resource_index/parent_prefix_path/stretch_web_teleop --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/environment/ament_prefix_path.sh --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/environment/ament_prefix_path.dsv --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/environment/path.sh --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/environment/path.dsv --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.bash --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.sh --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.zsh --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.dsv --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.dsv --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/ament_index/resource_index/packages/stretch_web_teleop --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/cmake/stretch_web_teleopConfig.cmake --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/cmake/stretch_web_teleopConfig-version.cmake --- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.xml diff --git a/log/build_2024-04-29_21-23-12/stretch_web_teleop/streams.log b/log/build_2024-04-29_21-23-12/stretch_web_teleop/streams.log deleted file mode 100644 index 4e3caf37..00000000 --- a/log/build_2024-04-29_21-23-12/stretch_web_teleop/streams.log +++ /dev/null @@ -1,44 +0,0 @@ -[0.009s] Invoking command in '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/hello-robot/ament_ws/install/tf2_web_republisher_py:/home/hello-robot/ament_ws/install/stretch_ros_tutorials:/home/hello-robot/ament_ws/install/stretch_funmap:/home/hello-robot/ament_ws/install/stretch_calibration:/home/hello-robot/ament_ws/install/stretch_demos:/home/hello-robot/ament_ws/install/stretch_deep_perception:/home/hello-robot/ament_ws/install/stretch_core:/home/hello-robot/ament_ws/install/respeaker_ros2:/home/hello-robot/ament_ws/install/hello_helpers:/opt/ros/humble /usr/bin/cmake --build /home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop -- -j16 -l16 -[0.036s] Invoked command in '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/hello-robot/ament_ws/install/tf2_web_republisher_py:/home/hello-robot/ament_ws/install/stretch_ros_tutorials:/home/hello-robot/ament_ws/install/stretch_funmap:/home/hello-robot/ament_ws/install/stretch_calibration:/home/hello-robot/ament_ws/install/stretch_demos:/home/hello-robot/ament_ws/install/stretch_deep_perception:/home/hello-robot/ament_ws/install/stretch_core:/home/hello-robot/ament_ws/install/respeaker_ros2:/home/hello-robot/ament_ws/install/hello_helpers:/opt/ros/humble /usr/bin/cmake --build /home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop -- -j16 -l16 -[0.057s] Invoking command in '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/hello-robot/ament_ws/install/tf2_web_republisher_py:/home/hello-robot/ament_ws/install/stretch_ros_tutorials:/home/hello-robot/ament_ws/install/stretch_funmap:/home/hello-robot/ament_ws/install/stretch_calibration:/home/hello-robot/ament_ws/install/stretch_demos:/home/hello-robot/ament_ws/install/stretch_deep_perception:/home/hello-robot/ament_ws/install/stretch_core:/home/hello-robot/ament_ws/install/respeaker_ros2:/home/hello-robot/ament_ws/install/hello_helpers:/opt/ros/humble /usr/bin/cmake --install /home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop -[0.062s] -- Install configuration: "" -[0.062s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/lib/stretch_web_teleop/configure_video_streams.py -[0.062s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/lib/stretch_web_teleop/navigation_camera.py -[0.062s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch -[0.063s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch/navigation_camera.launch.py -[0.063s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch/gripper_camera.launch.py -[0.063s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch/web_interface.launch.py -[0.063s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/launch/multi_camera.launch.py -[0.063s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates -[0.063s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/.gitkeep -[0.063s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/rootCA.pem -[0.063s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/stretch-se3-3031+6.pem -[0.063s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/stretch-se3-3031+6-key.pem -[0.063s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/certificates/rootCA-key.pem -[0.063s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes -[0.064s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/configure_video_streams.py -[0.064s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/navigation_camera.py -[0.064s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/old_navigation_camera.py -[0.064s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/gripper_camera.py -[0.064s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/nodes/blank_image.png -[0.064s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/config -[0.064s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/config/configure_video_streams_params.yaml -[0.064s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/maps -[0.064s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/maps/map.pgm -[0.064s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/maps/map.yaml -[0.064s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/ament_index/resource_index/package_run_dependencies/stretch_web_teleop -[0.064s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/ament_index/resource_index/parent_prefix_path/stretch_web_teleop -[0.064s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/environment/ament_prefix_path.sh -[0.064s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/environment/ament_prefix_path.dsv -[0.065s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/environment/path.sh -[0.065s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/environment/path.dsv -[0.065s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.bash -[0.065s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.sh -[0.065s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.zsh -[0.065s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/local_setup.dsv -[0.065s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.dsv -[0.065s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/ament_index/resource_index/packages/stretch_web_teleop -[0.065s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/cmake/stretch_web_teleopConfig.cmake -[0.065s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/cmake/stretch_web_teleopConfig-version.cmake -[0.065s] -- Up-to-date: /home/hello-robot/ament_ws/src/stretch_web_teleop/install/stretch_web_teleop/share/stretch_web_teleop/package.xml -[0.065s] Invoked command in '/home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/home/hello-robot/ament_ws/install/tf2_web_republisher_py:/home/hello-robot/ament_ws/install/stretch_ros_tutorials:/home/hello-robot/ament_ws/install/stretch_funmap:/home/hello-robot/ament_ws/install/stretch_calibration:/home/hello-robot/ament_ws/install/stretch_demos:/home/hello-robot/ament_ws/install/stretch_deep_perception:/home/hello-robot/ament_ws/install/stretch_core:/home/hello-robot/ament_ws/install/respeaker_ros2:/home/hello-robot/ament_ws/install/hello_helpers:/opt/ros/humble /usr/bin/cmake --install /home/hello-robot/ament_ws/src/stretch_web_teleop/build/stretch_web_teleop diff --git a/log/latest b/log/latest deleted file mode 120000 index b57d247c..00000000 --- a/log/latest +++ /dev/null @@ -1 +0,0 @@ -latest_build \ No newline at end of file diff --git a/log/latest_build b/log/latest_build deleted file mode 120000 index ca161b5b..00000000 --- a/log/latest_build +++ /dev/null @@ -1 +0,0 @@ -build_2024-04-29_21-23-12 \ No newline at end of file From e1efa42f5d763d9d2db98bdb3f3d77d42954f05e Mon Sep 17 00:00:00 2001 From: Amal Nanavati Date: Mon, 20 May 2024 17:28:25 -0700 Subject: [PATCH 4/5] Fixed D405 RGB camera resolution --- launch/multi_camera.launch.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/launch/multi_camera.launch.py b/launch/multi_camera.launch.py index f9e722dc..ee94b204 100644 --- a/launch/multi_camera.launch.py +++ b/launch/multi_camera.launch.py @@ -38,7 +38,7 @@ {'name': 'depth_module.depth_profile2', 'default': '480x270x15', 'description': 'depth module profile'}, {'name': 'depth_module.enable_auto_exposure2', 'default': 'true', 'description': 'enable/disable auto exposure for depth image'}, {'name': 'enable_depth2', 'default': 'true', 'description': 'enable depth stream'}, - {'name': 'depth_module.color_profile2', 'default': '424x240x15', 'description': 'color image width'}, + {'name': 'depth_module.color_profile2', 'default': '480x270x15', 'description': 'color image width'}, {'name': 'depth_module.enable_auto_exposure2', 'default': 'true', 'description': 'enable/disable auto exposure for color image'}, {'name': 'enable_color2', 'default': 'true', 'description': 'enable color stream'}, {'name': 'enable_infra12', 'default': 'false', 'description': 'enable infra1 stream'}, From f7174839b460c543b97ea14ac675aaaf71c3c102 Mon Sep 17 00:00:00 2001 From: Amal Nanavati Date: Tue, 21 May 2024 09:51:17 -0700 Subject: [PATCH 5/5] Removed redundance parameter --- launch/multi_camera.launch.py | 1 - 1 file changed, 1 deletion(-) diff --git a/launch/multi_camera.launch.py b/launch/multi_camera.launch.py index ee94b204..3ee4e882 100644 --- a/launch/multi_camera.launch.py +++ b/launch/multi_camera.launch.py @@ -39,7 +39,6 @@ {'name': 'depth_module.enable_auto_exposure2', 'default': 'true', 'description': 'enable/disable auto exposure for depth image'}, {'name': 'enable_depth2', 'default': 'true', 'description': 'enable depth stream'}, {'name': 'depth_module.color_profile2', 'default': '480x270x15', 'description': 'color image width'}, - {'name': 'depth_module.enable_auto_exposure2', 'default': 'true', 'description': 'enable/disable auto exposure for color image'}, {'name': 'enable_color2', 'default': 'true', 'description': 'enable color stream'}, {'name': 'enable_infra12', 'default': 'false', 'description': 'enable infra1 stream'}, {'name': 'enable_infra22', 'default': 'false', 'description': 'enable infra2 stream'},