Added config package
Started controller things
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parent
180bbe225f
commit
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12 changed files with 257 additions and 36 deletions
0
src/ar3_config/ar3_config/__init__.py
Normal file
0
src/ar3_config/ar3_config/__init__.py
Normal file
23
src/ar3_config/config/controller_manager.yaml
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src/ar3_config/config/controller_manager.yaml
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@ -0,0 +1,23 @@
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controller_manager:
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ros__parameters:
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update_rate: 100
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joint_trajectory_controller:
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type: joint_trajectory_controller/JointTrajectoryController
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joint_state_broadcaster:
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type: joint_state_controller/JointStateBroadcaster
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joint_trajectory_controller:
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ros__parameters:
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command_interfaces:
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- position
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state_interfaces:
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- position
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joints:
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- joint_1
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- joint_2
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- joint_3
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- joint_4
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- joint_5
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- joint_6
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63
src/ar3_config/launch/dev.launch.py
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src/ar3_config/launch/dev.launch.py
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@ -0,0 +1,63 @@
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from os.path import join
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch_ros.actions import Node
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from launch.actions import ExecuteProcess
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def generate_launch_description():
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launch_root = get_package_share_directory('ar3_config')
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description_root = get_package_share_directory('ar3_description')
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config_root = join(launch_root, 'config')
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urdf_path = join(description_root, 'ar3.urdf')
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with open(urdf_path, 'r') as f:
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robot_description = {'robot_description': f.read()}
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return LaunchDescription([
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# RViz
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Node(
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package='rviz2',
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executable='rviz2',
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output='log',
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arguments=['-d', join(launch_root, 'rviz', 'ar3.rviz')],
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parameters=[robot_description]),
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# Attatch robot to map
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Node(
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package='tf2_ros',
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executable='static_transform_publisher',
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output='screen',
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arguments=['0', '0', '0', '0', '0', '0', 'map', 'base_link']),
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# Controller
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Node(
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package='controller_manager',
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executable='ros2_control_node',
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output='screen',
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parameters=[robot_description, join(config_root, 'controller_manager.yaml')]),
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# Start controllers
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ExecuteProcess(
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cmd=['ros2 run controller_manager spawner.py joint_trajectory_controller'],
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shell=True,
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output='screen'),
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ExecuteProcess(
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cmd=['ros2 run controller_manager spawner.py joint_state_controller'],
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shell=True,
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output='screen'),
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# Robot state publisher
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Node(
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package='robot_state_publisher',
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executable='robot_state_publisher',
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output='screen',
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parameters=[robot_description]),
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# Fake robot state publisher
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Node(
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package='ar3_description',
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executable='state_publisher_net',
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name='state_publisher_net',
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emulate_tty=True,
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output='screen'),
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])
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19
src/ar3_config/package.xml
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src/ar3_config/package.xml
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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>ar3_config</name>
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<version>1.0.0</version>
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<description>Contains configuration and launch files for the ar3</description>
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<maintainer email="tmuller2017@my.fit.edu">Thomas Muller</maintainer>
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<maintainer email="farrell2017@my.fit.edu">John Farrell</maintainer>
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<license>TODO: License declaration</license>
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<test_depend>ament_copyright</test_depend>
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<test_depend>ament_flake8</test_depend>
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<test_depend>ament_pep257</test_depend>
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<test_depend>python3-pytest</test_depend>
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<export>
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<build_type>ament_python</build_type>
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</export>
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</package>
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src/ar3_config/resource/ar3_config
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src/ar3_config/resource/ar3_config
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src/ar3_config/setup.cfg
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src/ar3_config/setup.cfg
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[develop]
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script-dir=$base/lib/ar3_config
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[install]
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install-scripts=$base/lib/ar3_config
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src/ar3_config/setup.py
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src/ar3_config/setup.py
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from setuptools import setup
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from glob import glob
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package_name = 'ar3_config'
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setup(
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name=package_name,
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version='1.0.0',
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packages=[package_name],
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data_files=[
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('share/ament_index/resource_index/packages',
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['resource/' + package_name]),
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('share/' + package_name, ['package.xml']),
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('share/' + package_name + '/config', glob('config/*.yaml')),
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('share/' + package_name, glob('launch/*.py')),
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],
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install_requires=['setuptools'],
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zip_safe=True,
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maintainer=['Thomas Muller', 'John Farrell'],
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maintainer_email=['tmuller2017@my.fit.edu', 'farrell2017@my.fit.edu'],
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description='Contains configuration and launch files for the ar3',
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license='TODO: License declaration',
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tests_require=['pytest'],
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entry_points={
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'console_scripts': [
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],
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},
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)
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src/ar3_config/test/test_copyright.py
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src/ar3_config/test/test_copyright.py
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# Copyright 2015 Open Source Robotics Foundation, Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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from ament_copyright.main import main
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import pytest
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@pytest.mark.copyright
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@pytest.mark.linter
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def test_copyright():
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rc = main(argv=['.', 'test'])
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assert rc == 0, 'Found errors'
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src/ar3_config/test/test_flake8.py
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src/ar3_config/test/test_flake8.py
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# Copyright 2017 Open Source Robotics Foundation, Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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from ament_flake8.main import main_with_errors
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import pytest
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@pytest.mark.flake8
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@pytest.mark.linter
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def test_flake8():
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rc, errors = main_with_errors(argv=[])
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assert rc == 0, \
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'Found %d code style errors / warnings:\n' % len(errors) + \
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'\n'.join(errors)
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src/ar3_config/test/test_pep257.py
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src/ar3_config/test/test_pep257.py
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# Copyright 2015 Open Source Robotics Foundation, Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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from ament_pep257.main import main
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import pytest
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@pytest.mark.linter
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@pytest.mark.pep257
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def test_pep257():
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rc = main(argv=['.', 'test'])
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assert rc == 0, 'Found code style errors / warnings'
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@ -45,43 +45,19 @@ Visualization Manager:
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Reference Frame: <Fixed Frame>
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Value: true
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- Class: rviz_default_plugins/TF
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Enabled: true
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Enabled: false
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Frame Timeout: 15
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Frames:
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All Enabled: true
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base_link:
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Value: true
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link_1:
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Value: true
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link_2:
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Value: true
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link_3:
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Value: true
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link_4:
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Value: true
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link_5:
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Value: true
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link_6:
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Value: true
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odom:
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Value: true
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Marker Scale: 1
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Name: TF
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Show Arrows: true
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Show Axes: true
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Show Names: false
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Tree:
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odom:
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base_link:
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link_1:
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link_2:
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link_3:
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link_4:
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link_5:
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link_6:
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{}
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{}
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Update Interval: 0
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Value: true
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Value: false
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- Alpha: 1
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Class: rviz_default_plugins/RobotModel
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Collision Enabled: false
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Views:
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Current:
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Class: rviz_default_plugins/Orbit
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Distance: 2.0058364868164062
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Distance: 2.843780755996704
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.05999999865889549
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Stereo Focal Distance: 1
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Swap Stereo Eyes: false
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Value: false
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Focal Point:
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X: 0
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Y: 0
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Z: 0
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X: -0.0068215844221413136
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Y: 0.06749681383371353
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Z: 0.3262268602848053
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Focal Shape Fixed Size: true
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Focal Shape Size: 0.05000000074505806
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Invert Z Axis: false
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Name: Current View
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Near Clip Distance: 0.009999999776482582
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Pitch: 1.0453979969024658
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Pitch: 0.4247964024543762
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Target Frame: <Fixed Frame>
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Value: Orbit (rviz)
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Yaw: 2.080399513244629
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Yaw: 3.475400686264038
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Saved: ~
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Window Geometry:
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Displays:
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Views:
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collapsed: false
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Width: 1200
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X: 1278
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Y: 80
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X: 1321
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Y: 50
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<axis
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xyz="0 0 1" />
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</joint>
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<ros2_control name="joint_trajectory_controller" type="system">
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<hardware>
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<plugin>fake_components/GenericSystem</plugin>
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</hardware>
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<joint name="joint_1">
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<param name="initial_position">0.0</param>
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<command_interface name="position" />
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<state_interface name="position" />
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</joint>
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<joint name="joint_2">
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<param name="initial_position">0.0</param>
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<command_interface name="position" />
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<state_interface name="position" />
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</joint>
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<joint name="joint_3">
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<param name="initial_position">0.0</param>
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<command_interface name="position" />
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<state_interface name="position" />
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</joint>
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<joint name="joint_4">
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<param name="initial_position">0.0</param>
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<command_interface name="position" />
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<state_interface name="position" />
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</joint>
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<joint name="joint_5">
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<param name="initial_position">0.0</param>
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<command_interface name="position" />
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<state_interface name="position" />
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</joint>
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<joint name="joint_6">
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<param name="initial_position">0.0</param>
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<command_interface name="position" />
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<state_interface name="position" />
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</joint>
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</ros2_control>
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</robot>
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