diff --git a/.nix/behavior-tree.nix b/.nix/behavior-tree.nix new file mode 100644 index 0000000..06de9bc --- /dev/null +++ b/.nix/behavior-tree.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-lint-auto, ament-lint-common, behaviortree-cpp-v3, example-interfaces, geometry-msgs, nav-msgs, rclcpp, rclcpp-action, rclpy, std-msgs, std-srvs }: +buildRosPackage rec { + pname = "ros-jazzy-behavior-tree"; + version = "0.0.0"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "behavior_tree"; + rev = "bb838e2f45c362ee702fa6bd7dea7312130b6461"; + sha256 = "18r6qf4afx5rkdys3fxcc2kii7azksa3djflym243v5fh0wn2knx"; + }; + + buildType = "ament_cmake"; + buildInputs = [ ament-cmake ]; + checkInputs = [ ament-lint-auto ament-lint-common ]; + propagatedBuildInputs = [ behaviortree-cpp-v3 example-interfaces geometry-msgs nav-msgs rclcpp rclcpp-action rclpy std-msgs std-srvs ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "TODO: Package description"; + license = with lib.licenses; [ "TODO-License-declaration" ]; + }; +} diff --git a/.nix/behaviortree-ros2.nix b/.nix/behaviortree-ros2.nix new file mode 100644 index 0000000..e84ca22 --- /dev/null +++ b/.nix/behaviortree-ros2.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, behaviortree-cpp, boost, btcpp-ros2-interfaces, fmt, generate-parameter-library, rclcpp, rclcpp-action }: +buildRosPackage rec { + pname = "ros-jazzy-behaviortree-ros2"; + version = "0.2.0"; + + src = fetchFromGitHub { + owner = "BehaviorTree"; + repo = "BehaviorTree.ROS2"; + rev = "cc31ea7b97947f1aac6e8c37df6cec379c84a7d9"; + sha256 = "0m0n85jab14rfssyjf9sf05rq1rdzs6kqwb467953f26bvcnckkh"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/behaviortree_ros2/"; + buildInputs = [ ament-cmake ]; + propagatedBuildInputs = [ behaviortree-cpp boost btcpp-ros2-interfaces fmt generate-parameter-library rclcpp rclcpp-action ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "This package provides a ROS2 wrapper, on top of BehaviorTree.CPP."; + license = with lib.licenses; [ mit ]; + }; +} diff --git a/.nix/btcpp-ros2-interfaces.nix b/.nix/btcpp-ros2-interfaces.nix new file mode 100644 index 0000000..eb25d17 --- /dev/null +++ b/.nix/btcpp-ros2-interfaces.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy +{ lib, buildRosPackage, fetchFromGitHub, action-msgs, ament-cmake, rosidl-default-generators, rosidl-default-runtime }: +buildRosPackage rec { + pname = "ros-jazzy-btcpp-ros2-interfaces"; + version = "0.2.0"; + + src = fetchFromGitHub { + owner = "BehaviorTree"; + repo = "BehaviorTree.ROS2"; + rev = "cc31ea7b97947f1aac6e8c37df6cec379c84a7d9"; + sha256 = "0m0n85jab14rfssyjf9sf05rq1rdzs6kqwb467953f26bvcnckkh"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/btcpp_ros2_interfaces/"; + buildInputs = [ ament-cmake rosidl-default-generators ]; + propagatedBuildInputs = [ action-msgs rosidl-default-runtime ]; + nativeBuildInputs = [ ament-cmake rosidl-default-generators ]; + + meta = { + description = "ROS2 interfaces, mostly used to demonstrate behaviortree_ros2"; + license = with lib.licenses; [ mit ]; + }; +} diff --git a/.nix/btcpp-ros2-samples.nix b/.nix/btcpp-ros2-samples.nix new file mode 100644 index 0000000..bc2c4fd --- /dev/null +++ b/.nix/btcpp-ros2-samples.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, behaviortree-ros2, btcpp-ros2-interfaces, std-msgs, std-srvs }: +buildRosPackage rec { + pname = "ros-jazzy-btcpp-ros2-samples"; + version = "0.2.0"; + + src = fetchFromGitHub { + owner = "BehaviorTree"; + repo = "BehaviorTree.ROS2"; + rev = "cc31ea7b97947f1aac6e8c37df6cec379c84a7d9"; + sha256 = "0m0n85jab14rfssyjf9sf05rq1rdzs6kqwb467953f26bvcnckkh"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/btcpp_ros2_samples/"; + buildInputs = [ ament-cmake ]; + propagatedBuildInputs = [ behaviortree-ros2 btcpp-ros2-interfaces std-msgs std-srvs ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "Examples related to behaviortree_ros2"; + license = with lib.licenses; [ mit ]; + }; +} diff --git a/.nix/cartesian-compliance-controller.nix b/.nix/cartesian-compliance-controller.nix new file mode 100644 index 0000000..f2e8f2e --- /dev/null +++ b/.nix/cartesian-compliance-controller.nix @@ -0,0 +1,25 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-lint-common, cartesian-controller-base, cartesian-force-controller, cartesian-motion-controller, controller-interface, hardware-interface, pluginlib, rclcpp }: +buildRosPackage rec { + pname = "ros-jazzy-cartesian-compliance-controller"; + version = "0.0.0"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "cartesian_controllers"; + rev = "1218ab5e7153b9aa7a3cd687908671d9f900a838"; + sha256 = "1h0izk742gg4k3v4s8d3c1mj3hqxph390adfccyixggb511c8nvj"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/cartesian_compliance_controller/"; + buildInputs = [ ament-cmake ]; + checkInputs = [ ament-lint-common ]; + propagatedBuildInputs = [ cartesian-controller-base cartesian-force-controller cartesian-motion-controller controller-interface hardware-interface pluginlib rclcpp ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "Control your robot through Cartesian target poses and target wrenches"; + license = with lib.licenses; [ bsd3 ]; + }; +} diff --git a/.nix/cartesian-controller-base.nix b/.nix/cartesian-controller-base.nix new file mode 100644 index 0000000..6fff30c --- /dev/null +++ b/.nix/cartesian-controller-base.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, controller-interface, kdl-parser, pluginlib, rclcpp, realtime-tools, trajectory-msgs }: +buildRosPackage rec { + pname = "ros-jazzy-cartesian-controller-base"; + version = "0.0.0"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "cartesian_controllers"; + rev = "1218ab5e7153b9aa7a3cd687908671d9f900a838"; + sha256 = "1h0izk742gg4k3v4s8d3c1mj3hqxph390adfccyixggb511c8nvj"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/cartesian_controller_base/"; + buildInputs = [ ament-cmake ]; + propagatedBuildInputs = [ controller-interface kdl-parser pluginlib rclcpp realtime-tools trajectory-msgs ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "The cartesian_controller_base package"; + license = with lib.licenses; [ bsd3 ]; + }; +} diff --git a/.nix/cartesian-controller-handles.nix b/.nix/cartesian-controller-handles.nix new file mode 100644 index 0000000..47542b6 --- /dev/null +++ b/.nix/cartesian-controller-handles.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, cartesian-controller-base, controller-interface, geometry-msgs, interactive-markers, kdl-parser, pluginlib, rclcpp, urdf }: +buildRosPackage rec { + pname = "ros-jazzy-cartesian-controller-handles"; + version = "0.0.0"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "cartesian_controllers"; + rev = "1218ab5e7153b9aa7a3cd687908671d9f900a838"; + sha256 = "1h0izk742gg4k3v4s8d3c1mj3hqxph390adfccyixggb511c8nvj"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/cartesian_controller_handles/"; + buildInputs = [ ament-cmake ]; + propagatedBuildInputs = [ cartesian-controller-base controller-interface geometry-msgs interactive-markers kdl-parser pluginlib rclcpp urdf ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "The cartesian_controller_handles package"; + license = with lib.licenses; [ bsd3 ]; + }; +} diff --git a/.nix/cartesian-controller-utilities.nix b/.nix/cartesian-controller-utilities.nix new file mode 100644 index 0000000..ef3649f --- /dev/null +++ b/.nix/cartesian-controller-utilities.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, geometry-msgs, launch, launch-ros, rclcpp, sensor-msgs }: +buildRosPackage rec { + pname = "ros-jazzy-cartesian-controller-utilities"; + version = "0.1.0"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "cartesian_controllers"; + rev = "1218ab5e7153b9aa7a3cd687908671d9f900a838"; + sha256 = "1h0izk742gg4k3v4s8d3c1mj3hqxph390adfccyixggb511c8nvj"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/cartesian_controller_utilities/"; + buildInputs = [ ament-cmake ]; + propagatedBuildInputs = [ geometry-msgs launch launch-ros rclcpp sensor-msgs ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "Make the spacemouse a teach device for contact-based teleoperation"; + license = with lib.licenses; [ bsd3 ]; + }; +} diff --git a/.nix/cartesian-force-controller.nix b/.nix/cartesian-force-controller.nix new file mode 100644 index 0000000..47300b6 --- /dev/null +++ b/.nix/cartesian-force-controller.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, cartesian-controller-base, controller-interface, rclcpp }: +buildRosPackage rec { + pname = "ros-jazzy-cartesian-force-controller"; + version = "0.0.0"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "cartesian_controllers"; + rev = "1218ab5e7153b9aa7a3cd687908671d9f900a838"; + sha256 = "1h0izk742gg4k3v4s8d3c1mj3hqxph390adfccyixggb511c8nvj"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/cartesian_force_controller/"; + buildInputs = [ ament-cmake ]; + propagatedBuildInputs = [ cartesian-controller-base controller-interface rclcpp ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "The cartesian_force_controller package"; + license = with lib.licenses; [ bsd3 ]; + }; +} diff --git a/.nix/cartesian-motion-controller.nix b/.nix/cartesian-motion-controller.nix new file mode 100644 index 0000000..b3beedc --- /dev/null +++ b/.nix/cartesian-motion-controller.nix @@ -0,0 +1,22 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, cartesian-controller-base, controller-interface, rclcpp }: +buildRosPackage rec { + pname = "ros-jazzy-cartesian-motion-controller"; + version = "0.0.0"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "cartesian_controllers"; + rev = "1218ab5e7153b9aa7a3cd687908671d9f900a838"; + sha256 = "1h0izk742gg4k3v4s8d3c1mj3hqxph390adfccyixggb511c8nvj"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/cartesian_motion_controller/"; + propagatedBuildInputs = [ cartesian-controller-base controller-interface rclcpp ]; + + meta = { + description = "The cartesian_motion_controller package"; + license = with lib.licenses; [ bsd3 ]; + }; +} diff --git a/.nix/cartesian-twist-controller.nix b/.nix/cartesian-twist-controller.nix new file mode 100644 index 0000000..6c28dee --- /dev/null +++ b/.nix/cartesian-twist-controller.nix @@ -0,0 +1,22 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, cartesian-controller-base, controller-interface, rclcpp }: +buildRosPackage rec { + pname = "ros-jazzy-cartesian-twist-controller"; + version = "0.0.0"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "cartesian_controllers"; + rev = "1218ab5e7153b9aa7a3cd687908671d9f900a838"; + sha256 = "1h0izk742gg4k3v4s8d3c1mj3hqxph390adfccyixggb511c8nvj"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/cartesian_twist_controller/"; + propagatedBuildInputs = [ cartesian-controller-base controller-interface rclcpp ]; + + meta = { + description = "The cartesian_twist_controller package"; + license = with lib.licenses; [ bsd3 ]; + }; +} diff --git a/.nix/controller-interface.nix b/.nix/controller-interface.nix new file mode 100644 index 0000000..b9aa96a --- /dev/null +++ b/.nix/controller-interface.nix @@ -0,0 +1,25 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-cmake-gmock, hardware-interface, rclcpp-lifecycle, sensor-msgs }: +buildRosPackage rec { + pname = "ros-jazzy-controller-interface"; + version = "2.39.1"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "ros2_control"; + rev = "e4a4aade5aa844f2bfb693d389e048ca509ce7db"; + sha256 = "06jl0b3cwqdja8k901gjxnp5dgpnis61m10qwk4ghv17h197y02b"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/controller_interface/"; + buildInputs = [ ament-cmake ]; + checkInputs = [ ament-cmake-gmock ]; + propagatedBuildInputs = [ hardware-interface rclcpp-lifecycle sensor-msgs ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "Description of controller_interface"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/controller-manager-msgs.nix b/.nix/controller-manager-msgs.nix new file mode 100644 index 0000000..c743946 --- /dev/null +++ b/.nix/controller-manager-msgs.nix @@ -0,0 +1,25 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-lint-common, builtin-interfaces, lifecycle-msgs, rosidl-default-generators, rosidl-default-runtime }: +buildRosPackage rec { + pname = "ros-jazzy-controller-manager-msgs"; + version = "2.39.1"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "ros2_control"; + rev = "e4a4aade5aa844f2bfb693d389e048ca509ce7db"; + sha256 = "06jl0b3cwqdja8k901gjxnp5dgpnis61m10qwk4ghv17h197y02b"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/controller_manager_msgs/"; + buildInputs = [ ament-cmake rosidl-default-generators ]; + checkInputs = [ ament-lint-common ]; + propagatedBuildInputs = [ builtin-interfaces lifecycle-msgs rosidl-default-runtime ]; + nativeBuildInputs = [ ament-cmake rosidl-default-generators ]; + + meta = { + description = "Messages and services for the controller manager."; + license = with lib.licenses; [ bsdOriginal ]; + }; +} diff --git a/.nix/controller-manager.nix b/.nix/controller-manager.nix new file mode 100644 index 0000000..6213fe9 --- /dev/null +++ b/.nix/controller-manager.nix @@ -0,0 +1,25 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-cmake-gmock, ament-cmake-python, ament-index-cpp, backward-ros, controller-interface, controller-manager-msgs, hardware-interface, hardware-interface-testing, launch, launch-ros, pluginlib, rclcpp, rcpputils, realtime-tools, ros2-control-test-assets, ros2param, ros2run, std-msgs }: +buildRosPackage rec { + pname = "ros-jazzy-controller-manager"; + version = "2.39.1"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "ros2_control"; + rev = "e4a4aade5aa844f2bfb693d389e048ca509ce7db"; + sha256 = "06jl0b3cwqdja8k901gjxnp5dgpnis61m10qwk4ghv17h197y02b"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/controller_manager/"; + buildInputs = [ ament-cmake ament-cmake-python ]; + checkInputs = [ ament-cmake-gmock hardware-interface-testing ros2-control-test-assets ]; + propagatedBuildInputs = [ ament-index-cpp backward-ros controller-interface controller-manager-msgs hardware-interface launch launch-ros pluginlib rclcpp rcpputils realtime-tools ros2-control-test-assets ros2param ros2run std-msgs ]; + nativeBuildInputs = [ ament-cmake ament-cmake-python ]; + + meta = { + description = "Description of controller_manager"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/dynmsg-demo.nix b/.nix/dynmsg-demo.nix new file mode 100644 index 0000000..7cb3b6e --- /dev/null +++ b/.nix/dynmsg-demo.nix @@ -0,0 +1,25 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-lint-auto, ament-lint-common, dynmsg, dynmsg-msgs, example-interfaces, geometry-msgs, rcl, rcl-action, std-msgs, test-msgs, yaml-cpp-vendor }: +buildRosPackage rec { + pname = "ros-jazzy-dynmsg-demo"; + version = "1.0.0"; + + src = fetchFromGitHub { + owner = "osrf"; + repo = "dynamic_message_introspection"; + rev = "50277e341f61455c42a6015b5718804a4f8588f6"; + sha256 = "1kayqlmgpzz6lg4sfv6hlm1ak0jhmgqlarbj9wk3206as5iwhbhd"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/dynmsg_demo/"; + buildInputs = [ ament-cmake ]; + checkInputs = [ ament-lint-auto ament-lint-common dynmsg-msgs example-interfaces geometry-msgs std-msgs test-msgs ]; + propagatedBuildInputs = [ dynmsg rcl rcl-action yaml-cpp-vendor ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "Demo of dynamic message type loading"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/dynmsg-msgs.nix b/.nix/dynmsg-msgs.nix new file mode 100644 index 0000000..9e000aa --- /dev/null +++ b/.nix/dynmsg-msgs.nix @@ -0,0 +1,25 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-lint-auto, ament-lint-common, rosidl-default-generators, rosidl-default-runtime }: +buildRosPackage rec { + pname = "ros-jazzy-dynmsg-msgs"; + version = "1.0.0"; + + src = fetchFromGitHub { + owner = "osrf"; + repo = "dynamic_message_introspection"; + rev = "50277e341f61455c42a6015b5718804a4f8588f6"; + sha256 = "1kayqlmgpzz6lg4sfv6hlm1ak0jhmgqlarbj9wk3206as5iwhbhd"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/dynmsg_msgs/"; + buildInputs = [ ament-cmake rosidl-default-generators ]; + checkInputs = [ ament-lint-auto ament-lint-common ]; + propagatedBuildInputs = [ rosidl-default-runtime ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "Test messages for dynamic message type loading"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/dynmsg.nix b/.nix/dynmsg.nix new file mode 100644 index 0000000..fae585a --- /dev/null +++ b/.nix/dynmsg.nix @@ -0,0 +1,25 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, rcutils, rosidl-runtime-c, rosidl-runtime-cpp, rosidl-typesupport-introspection-c, rosidl-typesupport-introspection-cpp, std-msgs, yaml-cpp-vendor }: +buildRosPackage rec { + pname = "ros-jazzy-dynmsg"; + version = "1.0.0"; + + src = fetchFromGitHub { + owner = "osrf"; + repo = "dynamic_message_introspection"; + rev = "50277e341f61455c42a6015b5718804a4f8588f6"; + sha256 = "1kayqlmgpzz6lg4sfv6hlm1ak0jhmgqlarbj9wk3206as5iwhbhd"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/dynmsg/"; + buildInputs = [ ament-cmake ]; + checkInputs = [ ament-cmake-gtest ament-lint-auto ament-lint-common std-msgs ]; + propagatedBuildInputs = [ rcutils rosidl-runtime-c rosidl-runtime-cpp rosidl-typesupport-introspection-c rosidl-typesupport-introspection-cpp yaml-cpp-vendor ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "Introspection tools for message to/from YAML conversions"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/env-manager-interfaces.nix b/.nix/env-manager-interfaces.nix new file mode 100644 index 0000000..aea7047 --- /dev/null +++ b/.nix/env-manager-interfaces.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchgit, ament-cmake, ament-lint-auto, ament-lint-common, builtin-interfaces, lifecycle-msgs, rosidl-default-generators, rosidl-default-runtime }: +buildRosPackage rec { + pname = "ros-jazzy-env-manager-interfaces"; + version = "0.0.0"; + + # src = fetchgit { + # url = "git@gitlab.com:robossembler/robossembler-ros2.git"; + # rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; + # sha256 = "06mmi33qq24vkjs5575v86vrq7bvmqwlm8ls3mahlwl68awqw5x2"; + # }; + + buildType = "ament_cmake"; + src = ../env_manager/env_manager_interfaces; + buildInputs = [ ament-cmake rosidl-default-generators ]; + checkInputs = [ ament-lint-auto ament-lint-common ]; + propagatedBuildInputs = [ builtin-interfaces lifecycle-msgs rosidl-default-runtime ]; + nativeBuildInputs = [ ament-cmake rosidl-default-generators ]; + + meta = { + description = "TODO: Package description"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/env-manager.nix b/.nix/env-manager.nix new file mode 100644 index 0000000..a031770 --- /dev/null +++ b/.nix/env-manager.nix @@ -0,0 +1,17 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchgit, ament-copyright, ament-flake8, ament-pep257, pythonPackages }: +buildRosPackage rec { + pname = "ros-jazzy-env-manager"; + version = "0.0.0"; + + src = ../env_manager/env_manager; + + buildType = "ament_python"; + # sourceRoot = "${src.name}/env_manager/env_manager/"; + checkInputs = [ ament-copyright ament-flake8 ament-pep257 pythonPackages.pytest ]; + + meta = { + description = "TODO: Package description"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/flake.lock b/.nix/flake.lock new file mode 100644 index 0000000..d687bf7 --- /dev/null +++ b/.nix/flake.lock @@ -0,0 +1,84 @@ +{ + "nodes": { + "flake-utils": { + "inputs": { + "systems": "systems" + }, + "locked": { + "lastModified": 1726560853, + "narHash": "sha256-X6rJYSESBVr3hBoH0WbKE5KvhPU5bloyZ2L4K60/fPQ=", + "owner": "numtide", + "repo": "flake-utils", + "rev": "c1dfcf08411b08f6b8615f7d8971a2bfa81d5e8a", + "type": "github" + }, + "original": { + "owner": "numtide", + "repo": "flake-utils", + "type": "github" + } + }, + "nix-ros-overlay": { + "inputs": { + "flake-utils": "flake-utils", + "nixpkgs": "nixpkgs" + }, + "locked": { + "lastModified": 1729355159, + "narHash": "sha256-i1qgvODBSFxpzmkgvtY5cLhqAVpe+Z8eJTRVyLEGyx4=", + "owner": "lopsided98", + "repo": "nix-ros-overlay", + "rev": "20e7f58b7377ed3e932e8924d9ee39efaf888aa8", + "type": "github" + }, + "original": { + "owner": "lopsided98", + "ref": "develop", + "repo": "nix-ros-overlay", + "type": "github" + } + }, + "nixpkgs": { + "locked": { + "lastModified": 1726243404, + "narHash": "sha256-sjiGsMh+1cWXb53Tecsm4skyFNag33GPbVgCdfj3n9I=", + "owner": "lopsided98", + "repo": "nixpkgs", + "rev": "345c263f2f53a3710abe117f28a5cb86d0ba4059", + "type": "github" + }, + "original": { + "owner": "lopsided98", + "ref": "nix-ros", + "repo": "nixpkgs", + "type": "github" + } + }, + "root": { + "inputs": { + "nix-ros-overlay": "nix-ros-overlay", + "nixpkgs": [ + "nix-ros-overlay", + "nixpkgs" + ] + } + }, + "systems": { + "locked": { + "lastModified": 1681028828, + "narHash": "sha256-Vy1rq5AaRuLzOxct8nz4T6wlgyUR7zLU309k9mBC768=", + "owner": "nix-systems", + "repo": "default", + "rev": "da67096a3b9bf56a91d16901293e51ba5b49a27e", + "type": "github" + }, + "original": { + "owner": "nix-systems", + "repo": "default", + "type": "github" + } + } + }, + "root": "root", + "version": 7 +} diff --git a/.nix/flake.nix b/.nix/flake.nix new file mode 100644 index 0000000..b2fd76b --- /dev/null +++ b/.nix/flake.nix @@ -0,0 +1,73 @@ + +{ + inputs = { + #nix-ros-overlay.url = "/home/movefasta/Documents/robossembler/nix-ros-overlay"; + nix-ros-overlay.url = "github:lopsided98/nix-ros-overlay/develop"; + nixpkgs.follows = "nix-ros-overlay/nixpkgs"; # IMPORTANT!!! + }; + outputs = { self, nix-ros-overlay, nixpkgs }: + nix-ros-overlay.inputs.flake-utils.lib.eachDefaultSystem (system: + let + applyDistroOverlay = + rosOverlay: rosPackages: + rosPackages + // builtins.mapAttrs ( + rosDistro: rosPkgs: if rosPkgs ? overrideScope then rosPkgs.overrideScope rosOverlay else rosPkgs + ) rosPackages; + rosDistroOverlays = self: super: { + # Apply the overlay to multiple ROS distributions + rosPackages = applyDistroOverlay (import ./overlay.nix) super.rosPackages; + }; + pkgs = import nixpkgs { + inherit system; + overlays = [ + nix-ros-overlay.overlays.default + rosDistroOverlays + ]; + }; + + rosDistro = "jazzy"; + + in { + legacyPackages = pkgs.rosPackages; + packages = builtins.intersectAttrs (import ./overlay.nix null null) pkgs.rosPackages.${rosDistro}; + checks = builtins.intersectAttrs (import ./overlay.nix null null) pkgs.rosPackages.${rosDistro}; + devShells.default = pkgs.mkShell { + name = "Example project"; + packages = [ + pkgs.colcon + # ... other non-ROS packages + (with pkgs.rosPackages.${rosDistro}; buildEnv { + paths = [ + ros-core + behavior-tree + controller-interface + controller-manager + dynmsg + # dynmsg-demo # YAML failed + dynmsg-msgs + gz-ros2-control + # gz-ros2-control-tests(demos) # error: 'get_robot_description' was not declared in this scope + hardware-interface + hardware-interface-testing + joint-limits + joint-limits-interface + # rbs-arm # error: 'get_robot_description' was not declared in this scope + robot-builder + ros2controlcli + rqt-controller-manager + # test-dynmsg # YAML + transmission-interface + ros2-controllers + + # ... other ROS packages + ]; + }) + ]; + }; + }); + nixConfig = { + extra-substituters = [ "https://ros.cachix.org" ]; + extra-trusted-public-keys = [ "ros.cachix.org-1:dSyZxI8geDCJrwgvCOHDoAfOm5sV1wCPjBkKL+38Rvo=" ]; + }; +} diff --git a/.nix/gz-ros2-control-tests.nix b/.nix/gz-ros2-control-tests.nix new file mode 100644 index 0000000..6536678 --- /dev/null +++ b/.nix/gz-ros2-control-tests.nix @@ -0,0 +1,25 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-cmake-gtest, ament-index-python, ament-lint-auto, ament-lint-common, control-msgs, geometry-msgs, hardware-interface, gz-ros2-control, joint-state-broadcaster, joint-trajectory-controller, launch, launch-ros, launch-testing-ament-cmake, python3Packages, pythonPackages, rclcpp, rclcpp-action, robot-state-publisher, ros-gz, ros2controlcli, ros2launch, xacro }: +buildRosPackage rec { + pname = "ros-jazzy-gz-ros2-control-tests"; + version = "0.7.9"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "gz_ros2_control"; + rev = "43dd1046295ecef5b25d3caab45591da8fb747ba"; + sha256 = "0gzx2286hc1daym4prh8shrbkrp8dkirxsgbx1ykd5c271krsjfg"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/gz_ros2_control_tests/"; + buildInputs = [ ament-cmake rclcpp-action ]; + checkInputs = [ ament-cmake-gtest ament-lint-auto ament-lint-common ]; + propagatedBuildInputs = [ ament-index-python control-msgs geometry-msgs hardware-interface gz-ros2-control joint-state-broadcaster joint-trajectory-controller launch launch-ros launch-testing-ament-cmake python3Packages.psutil pythonPackages.pytest rclcpp robot-state-publisher ros-gz ros2controlcli ros2launch xacro ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "Gazebo ros2 control tests"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/hardware-interface-testing.nix b/.nix/hardware-interface-testing.nix new file mode 100644 index 0000000..a3fcd7f --- /dev/null +++ b/.nix/hardware-interface-testing.nix @@ -0,0 +1,25 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-cmake-gmock, control-msgs, hardware-interface, lifecycle-msgs, pluginlib, rclcpp-lifecycle, ros2-control-test-assets }: +buildRosPackage rec { + pname = "ros-jazzy-hardware-interface-testing"; + version = "2.39.1"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "ros2_control"; + rev = "e4a4aade5aa844f2bfb693d389e048ca509ce7db"; + sha256 = "06jl0b3cwqdja8k901gjxnp5dgpnis61m10qwk4ghv17h197y02b"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/hardware_interface_testing/"; + buildInputs = [ ament-cmake ]; + checkInputs = [ ament-cmake-gmock ]; + propagatedBuildInputs = [ control-msgs hardware-interface lifecycle-msgs pluginlib rclcpp-lifecycle ros2-control-test-assets ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "ros2_control hardware interface testing"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/hardware-interface.nix b/.nix/hardware-interface.nix new file mode 100644 index 0000000..51362b5 --- /dev/null +++ b/.nix/hardware-interface.nix @@ -0,0 +1,25 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-cmake-gmock, control-msgs, lifecycle-msgs, pluginlib, rclcpp-lifecycle, rcpputils, rcutils, ros2-control-test-assets, tinyxml2-vendor }: +buildRosPackage rec { + pname = "ros-jazzy-hardware-interface"; + version = "2.39.1"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "ros2_control"; + rev = "e4a4aade5aa844f2bfb693d389e048ca509ce7db"; + sha256 = "06jl0b3cwqdja8k901gjxnp5dgpnis61m10qwk4ghv17h197y02b"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/hardware_interface/"; + buildInputs = [ ament-cmake ]; + checkInputs = [ ament-cmake-gmock ros2-control-test-assets ]; + propagatedBuildInputs = [ control-msgs lifecycle-msgs pluginlib rclcpp-lifecycle rcpputils rcutils tinyxml2-vendor ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "ros2_control hardware interface"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/ign-ros2-control-demos.nix b/.nix/ign-ros2-control-demos.nix new file mode 100644 index 0000000..e4fcda3 --- /dev/null +++ b/.nix/ign-ros2-control-demos.nix @@ -0,0 +1,25 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, ackermann-steering-controller, ament-cmake, ament-cmake-gtest, ament-index-python, ament-lint-auto, ament-lint-common, control-msgs, diff-drive-controller, effort-controllers, geometry-msgs, hardware-interface, ign-ros2-control, imu-sensor-broadcaster, joint-state-broadcaster, joint-trajectory-controller, launch, launch-ros, rclcpp, rclcpp-action, robot-state-publisher, ros-gz-bridge, ros-ign-gazebo, ros2controlcli, ros2launch, std-msgs, tricycle-controller, velocity-controllers, xacro }: +buildRosPackage rec { + pname = "ros-jazzy-ign-ros2-control-demos"; + version = "0.7.9"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "gz_ros2_control"; + rev = "43dd1046295ecef5b25d3caab45591da8fb747ba"; + sha256 = "0gzx2286hc1daym4prh8shrbkrp8dkirxsgbx1ykd5c271krsjfg"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/ign_ros2_control_demos/"; + buildInputs = [ ament-cmake rclcpp-action ]; + checkInputs = [ ament-cmake-gtest ament-lint-auto ament-lint-common ]; + propagatedBuildInputs = [ ackermann-steering-controller ament-index-python control-msgs diff-drive-controller effort-controllers geometry-msgs hardware-interface ign-ros2-control imu-sensor-broadcaster joint-state-broadcaster joint-trajectory-controller launch launch-ros rclcpp robot-state-publisher ros-gz-bridge ros-ign-gazebo ros2controlcli ros2launch std-msgs tricycle-controller velocity-controllers xacro ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "ign_ros2_control_demos"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/ign-ros2-control.nix b/.nix/ign-ros2-control.nix new file mode 100644 index 0000000..4a7df0f --- /dev/null +++ b/.nix/ign-ros2-control.nix @@ -0,0 +1,25 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-index-cpp, ament-lint-auto, ament-lint-common, controller-manager, hardware-interface, ignition-gazebo6, ignition-plugin, pluginlib, rclcpp, rclcpp-lifecycle, yaml-cpp-vendor }: +buildRosPackage rec { + pname = "ros-jazzy-ign-ros2-control"; + version = "0.7.9"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "gz_ros2_control"; + rev = "43dd1046295ecef5b25d3caab45591da8fb747ba"; + sha256 = "0gzx2286hc1daym4prh8shrbkrp8dkirxsgbx1ykd5c271krsjfg"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/ign_ros2_control/"; + buildInputs = [ ament-cmake ]; + checkInputs = [ ament-lint-auto ament-lint-common ]; + propagatedBuildInputs = [ ament-index-cpp controller-manager hardware-interface ignition-gazebo6 ignition-plugin pluginlib rclcpp rclcpp-lifecycle yaml-cpp-vendor ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "Ignition ros2_control package allows to control simulated robots using ros2_control framework."; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/joint-limits-interface.nix b/.nix/joint-limits-interface.nix new file mode 100644 index 0000000..f90bfe1 --- /dev/null +++ b/.nix/joint-limits-interface.nix @@ -0,0 +1,25 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-cmake-gtest, hardware-interface, launch, launch-ros, launch-testing, launch-testing-ament-cmake, rclcpp, urdf }: +buildRosPackage rec { + pname = "ros-jazzy-joint-limits-interface"; + version = "0.0.0"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "ros2_control"; + rev = "e4a4aade5aa844f2bfb693d389e048ca509ce7db"; + sha256 = "06jl0b3cwqdja8k901gjxnp5dgpnis61m10qwk4ghv17h197y02b"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/joint_limits_interface/"; + buildInputs = [ ament-cmake ]; + checkInputs = [ ament-cmake-gtest hardware-interface launch launch-ros launch-testing launch-testing-ament-cmake ]; + propagatedBuildInputs = [ hardware-interface rclcpp urdf ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "Interface for enforcing joint limits."; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/joint-limits.nix b/.nix/joint-limits.nix new file mode 100644 index 0000000..a29117d --- /dev/null +++ b/.nix/joint-limits.nix @@ -0,0 +1,25 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-cmake-gtest, launch-testing-ament-cmake, rclcpp, rclcpp-lifecycle }: +buildRosPackage rec { + pname = "ros-jazzy-joint-limits"; + version = "2.39.1"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "ros2_control"; + rev = "e4a4aade5aa844f2bfb693d389e048ca509ce7db"; + sha256 = "06jl0b3cwqdja8k901gjxnp5dgpnis61m10qwk4ghv17h197y02b"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/joint_limits/"; + buildInputs = [ ament-cmake ]; + checkInputs = [ ament-cmake-gtest launch-testing-ament-cmake ]; + propagatedBuildInputs = [ rclcpp rclcpp-lifecycle ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "Interfaces for handling of joint limits for controllers or hardware."; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/overlay.nix b/.nix/overlay.nix new file mode 100644 index 0000000..7aea738 --- /dev/null +++ b/.nix/overlay.nix @@ -0,0 +1,60 @@ +self: super: +{ + behavior-tree = super.callPackage ./behavior-tree.nix {}; + behaviortree-ros2 = super.callPackage ./behaviortree-ros2.nix {}; + btcpp-ros2-interfaces = super.callPackage ./btcpp-ros2-interfaces.nix {}; + btcpp-ros2-samples = super.callPackage ./btcpp-ros2-samples.nix {}; + cartesian-compliance-controller = super.callPackage ./cartesian-compliance-controller.nix {}; + cartesian-controller-base = super.callPackage ./cartesian-controller-base.nix {}; + cartesian-controller-handles = super.callPackage ./cartesian-controller-handles.nix {}; + cartesian-controller-utilities = super.callPackage ./cartesian-controller-utilities.nix {}; + cartesian-force-controller = super.callPackage ./cartesian-force-controller.nix {}; + cartesian-motion-controller = super.callPackage ./cartesian-motion-controller.nix {}; + cartesian-twist-controller = super.callPackage ./cartesian-twist-controller.nix {}; + # controller-interface = super.callPackage ./controller-interface.nix {}; + # controller-manager = super.callPackage ./controller-manager.nix {}; + # controller-manager-msgs = super.callPackage ./controller-manager-msgs.nix {}; + dynmsg = super.callPackage ./dynmsg.nix {}; + dynmsg-demo = super.callPackage ./dynmsg-demo.nix {}; + dynmsg-msgs = super.callPackage ./dynmsg-msgs.nix {}; + env-manager = super.callPackage ./env-manager.nix {}; + env-manager-interfaces = super.callPackage ./env-manager-interfaces.nix {}; + # gz-ros2-control-tests = super.callPackage ./gz-ros2-control-tests.nix {}; + # hardware-interface = super.callPackage ./hardware-interface.nix {}; + # hardware-interface-testing = super.callPackage ./hardware-interface-testing.nix {}; + ign-ros2-control = super.callPackage ./ign-ros2-control.nix {}; + ign-ros2-control-demos = super.callPackage ./ign-ros2-control-demos.nix {}; + # joint-limits = super.callPackage ./joint-limits.nix {}; + # joint-limits-interface = super.callPackage ./joint-limits-interface.nix {}; + rbs-arm = super.callPackage ./rbs-arm.nix {}; + rbs-bringup = super.callPackage ./rbs-bringup.nix {}; + rbs-bt-executor = super.callPackage ./rbs-bt-executor.nix {}; + rbs-gripper = super.callPackage ./rbs-gripper.nix {}; + rbs-gym = super.callPackage ./rbs-gym.nix {}; + rbs-perception = super.callPackage ./rbs-perception.nix {}; + rbs-runtime = super.callPackage ./rbs-runtime.nix {}; + rbs-schunk-egp-n-n-b = super.callPackage ./rbs-schunk-egp-n-n-b.nix {}; + rbs-simulation = super.callPackage ./rbs-simulation.nix {}; + rbs-skill-interfaces = super.callPackage ./rbs-skill-interfaces.nix {}; + rbs-skill-servers = super.callPackage ./rbs-skill-servers.nix {}; + rbs-task-planner = super.callPackage ./rbs-task-planner.nix {}; + rbs-utils = super.callPackage ./rbs-utils.nix {}; + rbs-utils-interfaces = super.callPackage ./rbs-utils-interfaces.nix {}; + rbss-movetopose = super.callPackage ./rbss-movetopose.nix {}; + rbss-objectdetection = super.callPackage ./rbss-objectdetection.nix {}; + rbss-poseestimation = super.callPackage ./rbss-poseestimation.nix {}; + robonomics = super.callPackage ./robonomics.nix {}; + robot-builder = super.callPackage ./robot-builder.nix {}; + ros2controlcli = super.callPackage ./ros2controlcli.nix {}; + rqt-controller-manager = super.callPackage ./rqt-controller-manager.nix {}; + test-dynmsg = super.callPackage ./test-dynmsg.nix {}; + # transmission-interface = super.callPackage ./transmission-interface.nix {}; + ur = super.callPackage ./ur.nix {}; + ur-bringup = super.callPackage ./ur-bringup.nix {}; + ur-calibration = super.callPackage ./ur-calibration.nix {}; + ur-controllers = super.callPackage ./ur-controllers.nix {}; + ur-dashboard-msgs = super.callPackage ./ur-dashboard-msgs.nix {}; + ur-description = super.callPackage ./ur-description.nix {}; + ur-moveit-config = super.callPackage ./ur-moveit-config.nix {}; + ur-robot-driver = super.callPackage ./ur-robot-driver.nix {}; +} diff --git a/.nix/rbs-arm.nix b/.nix/rbs-arm.nix new file mode 100644 index 0000000..05330ed --- /dev/null +++ b/.nix/rbs-arm.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-lint-auto, ament-lint-common, joint-trajectory-controller, ros-gz, ros2-control, ros2-controllers }: +buildRosPackage rec { + pname = "ros-jazzy-rbs-arm"; + version = "0.0.0"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "rbs-arm"; + rev = "bc13ea275cffdaa062d225bf3934918a6dbaafb3"; + sha256 = "0f3j8vlshq19qkcxy7fiv9ij3zz70k5lhn4y4184zfr4czdkpmf0"; + }; + + buildType = "ament_cmake"; + buildInputs = [ ament-cmake ]; + checkInputs = [ ament-lint-auto ament-lint-common ]; + propagatedBuildInputs = [ joint-trajectory-controller ros-gz ros2-control ros2-controllers ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "TODO: Package description"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/rbs-bringup.nix b/.nix/rbs-bringup.nix new file mode 100644 index 0000000..10a0082 --- /dev/null +++ b/.nix/rbs-bringup.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchgit, ament-cmake, ament-lint-auto, ament-lint-common, nav2-common }: +buildRosPackage rec { + pname = "ros-jazzy-rbs-bringup"; + version = "0.0.0"; + + src = fetchgit { + url = "git@gitlab.com:robossembler/robossembler-ros2.git"; + rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; + sha256 = "06mmi33qq24vkjs5575v86vrq7bvmqwlm8ls3mahlwl68awqw5x2"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/rbs_bringup/"; + buildInputs = [ ament-cmake ]; + checkInputs = [ ament-lint-auto ament-lint-common ]; + propagatedBuildInputs = [ nav2-common ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "TODO: Package description"; + license = with lib.licenses; [ "TODO-License-declaration" ]; + }; +} diff --git a/.nix/rbs-bt-executor.nix b/.nix/rbs-bt-executor.nix new file mode 100644 index 0000000..dc2d8b5 --- /dev/null +++ b/.nix/rbs-bt-executor.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchgit, ament-cmake, ament-cmake-python, ament-lint-auto, ament-lint-common, behaviortree-cpp, behaviortree-ros2, env-manager-interfaces, rbs-skill-interfaces, rbs-utils, rclpy }: +buildRosPackage rec { + pname = "ros-jazzy-rbs-bt-executor"; + version = "0.0.0"; + + # src = fetchgit { + # url = "git@gitlab.com:robossembler/robossembler-ros2.git"; + # rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; + # sha256 = "06mmi33qq24vkjs5575v86vrq7bvmqwlm8ls3mahlwl68awqw5x2"; + # }; + + buildType = "ament_cmake"; + src = "./rbs_bt_executor/"; + buildInputs = [ ament-cmake ament-cmake-python ]; + checkInputs = [ ament-lint-auto ament-lint-common ]; + propagatedBuildInputs = [ behaviortree-cpp behaviortree-ros2 env-manager-interfaces rbs-skill-interfaces rbs-utils rclpy ]; + nativeBuildInputs = [ ament-cmake ament-cmake-python ]; + + meta = { + description = "TODO: Package description"; + license = with lib.licenses; [ "TODO-License-declaration" ]; + }; +} diff --git a/.nix/rbs-gripper.nix b/.nix/rbs-gripper.nix new file mode 100644 index 0000000..54d9fbd --- /dev/null +++ b/.nix/rbs-gripper.nix @@ -0,0 +1,23 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-lint-auto, ament-lint-common }: +buildRosPackage rec { + pname = "ros-jazzy-rbs-gripper"; + version = "0.0.0"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "rbs-gripper"; + rev = "d34d28ab88f04bfd981f7f36293d501212795c47"; + sha256 = "0kyjm3q10w55hibypknx9rz69brkp10kdcpl79wwkz2d0fya6d5j"; + }; + + buildType = "ament_cmake"; + buildInputs = [ ament-cmake ]; + checkInputs = [ ament-lint-auto ament-lint-common ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "TODO: Package description"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/rbs-gym.nix b/.nix/rbs-gym.nix new file mode 100644 index 0000000..7916f2e --- /dev/null +++ b/.nix/rbs-gym.nix @@ -0,0 +1,21 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchgit, ament-copyright, ament-flake8, ament-pep257, pythonPackages }: +buildRosPackage rec { + pname = "ros-jazzy-rbs-gym"; + version = "0.0.0"; + + src = fetchgit { + url = "git@gitlab.com:robossembler/robossembler-ros2.git"; + rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; + sha256 = "06mmi33qq24vkjs5575v86vrq7bvmqwlm8ls3mahlwl68awqw5x2"; + }; + + buildType = "ament_python"; + sourceRoot = "${src.name}/env_manager/rbs_gym/"; + checkInputs = [ ament-copyright ament-flake8 ament-pep257 pythonPackages.pytest ]; + + meta = { + description = "TODO: Package description"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/rbs-perception.nix b/.nix/rbs-perception.nix new file mode 100644 index 0000000..7d2ede6 --- /dev/null +++ b/.nix/rbs-perception.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchgit, ament-cmake, ament-cmake-python, ament-lint-auto, ament-lint-common, cv-bridge, image-transport, perception-pcl, rbs-skill-interfaces, rclcpp, rclpy, sensor-msgs, std-msgs }: +buildRosPackage rec { + pname = "ros-jazzy-rbs-perception"; + version = "0.0.0"; + + src = fetchgit { + url = "git@gitlab.com:robossembler/robossembler-ros2.git"; + rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; + sha256 = "06mmi33qq24vkjs5575v86vrq7bvmqwlm8ls3mahlwl68awqw5x2"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/rbs_perception/"; + buildInputs = [ ament-cmake ament-cmake-python ]; + checkInputs = [ ament-lint-auto ament-lint-common ]; + propagatedBuildInputs = [ cv-bridge image-transport perception-pcl rbs-skill-interfaces rclcpp rclpy sensor-msgs std-msgs ]; + nativeBuildInputs = [ ament-cmake ament-cmake-python ]; + + meta = { + description = "An node for robot perception"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/rbs-runtime.nix b/.nix/rbs-runtime.nix new file mode 100644 index 0000000..38130bb --- /dev/null +++ b/.nix/rbs-runtime.nix @@ -0,0 +1,21 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchgit, ament-copyright, ament-flake8, ament-pep257, pythonPackages }: +buildRosPackage rec { + pname = "ros-jazzy-rbs-runtime"; + version = "0.0.0"; + + src = fetchgit { + url = "git@gitlab.com:robossembler/robossembler-ros2.git"; + rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; + sha256 = "06mmi33qq24vkjs5575v86vrq7bvmqwlm8ls3mahlwl68awqw5x2"; + }; + + buildType = "ament_python"; + sourceRoot = "${src.name}/env_manager/rbs_runtime/"; + checkInputs = [ ament-copyright ament-flake8 ament-pep257 pythonPackages.pytest ]; + + meta = { + description = "TODO: Package description"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/rbs-schunk-egp-n-n-b.nix b/.nix/rbs-schunk-egp-n-n-b.nix new file mode 100644 index 0000000..7830f6b --- /dev/null +++ b/.nix/rbs-schunk-egp-n-n-b.nix @@ -0,0 +1,22 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchgit, ament-cmake, ament-lint-auto, ament-lint-common }: +buildRosPackage rec { + pname = "ros-jazzy-rbs-schunk-egp-n-n-b"; + version = "0.0.0"; + + src = fetchgit { + url = "https://gitlab.com/robossembler/arm-tools/urdf-model-shrunk-gripper-egp-40-n-n-b.git"; + rev = "d22a39da75767ed97bc27a16ca771cdc637561d7"; + sha256 = "1immr3iq56sxk5aavrky5gqbb8z8akcsjzlskra2z071n741jyrm"; + }; + + buildType = "ament_cmake"; + buildInputs = [ ament-cmake ]; + checkInputs = [ ament-lint-auto ament-lint-common ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "TODO: Package description"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/rbs-simulation.nix b/.nix/rbs-simulation.nix new file mode 100644 index 0000000..966aafc --- /dev/null +++ b/.nix/rbs-simulation.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchgit, ament-cmake, ament-lint-auto, ament-lint-common, geometry-msgs, rclcpp, std-msgs, tf2, tf2-ros }: +buildRosPackage rec { + pname = "ros-jazzy-rbs-simulation"; + version = "0.0.0"; + + src = fetchgit { + url = "git@gitlab.com:robossembler/robossembler-ros2.git"; + rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; + sha256 = "06mmi33qq24vkjs5575v86vrq7bvmqwlm8ls3mahlwl68awqw5x2"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/rbs_simulation/"; + buildInputs = [ ament-cmake ]; + checkInputs = [ ament-lint-auto ament-lint-common ]; + propagatedBuildInputs = [ geometry-msgs rclcpp std-msgs tf2 tf2-ros ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "TODO: Package description"; + license = with lib.licenses; [ "TODO-License-declaration" ]; + }; +} diff --git a/.nix/rbs-skill-interfaces.nix b/.nix/rbs-skill-interfaces.nix new file mode 100644 index 0000000..97b23d3 --- /dev/null +++ b/.nix/rbs-skill-interfaces.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchgit, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, geometry-msgs, rosidl-default-generators, rosidl-default-runtime, shape-msgs, std-msgs, test-msgs }: +buildRosPackage rec { + pname = "ros-jazzy-rbs-skill-interfaces"; + version = "0.0.0"; + + src = fetchgit { + url = "git@gitlab.com:robossembler/robossembler-ros2.git"; + rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; + sha256 = "06mmi33qq24vkjs5575v86vrq7bvmqwlm8ls3mahlwl68awqw5x2"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/rbs_skill_interfaces/"; + buildInputs = [ ament-cmake rosidl-default-generators ]; + checkInputs = [ ament-cmake-gtest ament-lint-auto ament-lint-common test-msgs ]; + propagatedBuildInputs = [ geometry-msgs rosidl-default-runtime shape-msgs std-msgs ]; + nativeBuildInputs = [ ament-cmake rosidl-default-generators ]; + + meta = { + description = "TODO: Package description"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/rbs-skill-servers.nix b/.nix/rbs-skill-servers.nix new file mode 100644 index 0000000..9443582 --- /dev/null +++ b/.nix/rbs-skill-servers.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchgit, action-msgs, ament-cmake, ament-lint-auto, ament-lint-common, geometric-shapes, geometry-msgs, ign-ros2-control, moveit-core, moveit-msgs, moveit-ros-planning, moveit-ros-planning-interface, rbs-skill-interfaces, rbs-utils, rclcpp, rclcpp-action, tf2-eigen, tf2-ros }: +buildRosPackage rec { + pname = "ros-jazzy-rbs-skill-servers"; + version = "0.0.0"; + + src = fetchgit { + url = "git@gitlab.com:robossembler/robossembler-ros2.git"; + rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; + sha256 = "06mmi33qq24vkjs5575v86vrq7bvmqwlm8ls3mahlwl68awqw5x2"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/rbs_skill_servers/"; + buildInputs = [ ament-cmake ]; + checkInputs = [ ament-lint-auto ament-lint-common ]; + propagatedBuildInputs = [ action-msgs geometric-shapes geometry-msgs ign-ros2-control moveit-core moveit-msgs moveit-ros-planning moveit-ros-planning-interface rbs-skill-interfaces rbs-utils rclcpp rclcpp-action tf2-eigen tf2-ros ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "TODO: Package description"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/rbs-task-planner.nix b/.nix/rbs-task-planner.nix new file mode 100644 index 0000000..4c31cf6 --- /dev/null +++ b/.nix/rbs-task-planner.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchgit, ament-cmake, ament-cmake-gtest, ament-index-cpp, ament-lint-auto, ament-lint-common, behavior-tree, behaviortree-cpp-v3, plansys2-bringup, plansys2-bt-actions, plansys2-domain-expert, plansys2-executor, plansys2-msgs, plansys2-pddl-parser, plansys2-planner, plansys2-problem-expert, plansys2-terminal, popf, test-msgs }: +buildRosPackage rec { + pname = "ros-jazzy-rbs-task-planner"; + version = "0.0.1"; + + src = fetchgit { + url = "git@gitlab.com:robossembler/robossembler-ros2.git"; + rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; + sha256 = "06mmi33qq24vkjs5575v86vrq7bvmqwlm8ls3mahlwl68awqw5x2"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/rbs_task_planner/"; + buildInputs = [ ament-cmake ]; + checkInputs = [ ament-cmake-gtest ament-lint-auto ament-lint-common test-msgs ]; + propagatedBuildInputs = [ ament-index-cpp behavior-tree behaviortree-cpp-v3 plansys2-bringup plansys2-bt-actions plansys2-domain-expert plansys2-executor plansys2-msgs plansys2-pddl-parser plansys2-planner plansys2-problem-expert plansys2-terminal popf ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "ROS2 task planner for manipulator"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/rbs-utils-interfaces.nix b/.nix/rbs-utils-interfaces.nix new file mode 100644 index 0000000..31f949b --- /dev/null +++ b/.nix/rbs-utils-interfaces.nix @@ -0,0 +1,23 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchgit, ament-cmake, rosidl-default-generators, rosidl-default-runtime }: +buildRosPackage rec { + pname = "ros-jazzy-rbs-utils-interfaces"; + version = "0.0.0"; + + src = fetchgit { + url = "git@gitlab.com:robossembler/robossembler-ros2.git"; + rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; + sha256 = "06mmi33qq24vkjs5575v86vrq7bvmqwlm8ls3mahlwl68awqw5x2"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/rbs_utils/rbs_utils_interfaces/"; + buildInputs = [ ament-cmake rosidl-default-generators ]; + propagatedBuildInputs = [ rosidl-default-runtime ]; + nativeBuildInputs = [ ament-cmake rosidl-default-generators ]; + + meta = { + description = "Interfaces for read robossembler_db config"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/rbs-utils.nix b/.nix/rbs-utils.nix new file mode 100644 index 0000000..c48e938 --- /dev/null +++ b/.nix/rbs-utils.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchgit, ament-cmake, ament-lint-auto, ament-lint-common, dynmsg, geometry-msgs, rbs-utils-interfaces, rclcpp, rclcpp-lifecycle, rclpy, rosidl-default-generators, rviz-visual-tools, sensor-msgs, std-msgs, tf2-eigen, tf2-ros }: +buildRosPackage rec { + pname = "ros-jazzy-rbs-utils"; + version = "0.0.0"; + + src = fetchgit { + url = "git@gitlab.com:robossembler/robossembler-ros2.git"; + rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; + sha256 = "06mmi33qq24vkjs5575v86vrq7bvmqwlm8ls3mahlwl68awqw5x2"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/rbs_utils/rbs_utils/"; + buildInputs = [ ament-cmake ]; + checkInputs = [ ament-lint-auto ament-lint-common ]; + propagatedBuildInputs = [ dynmsg geometry-msgs rbs-utils-interfaces rclcpp rclcpp-lifecycle rclpy rosidl-default-generators rviz-visual-tools sensor-msgs std-msgs tf2-eigen tf2-ros ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "TODO: Package description"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/rbss-movetopose.nix b/.nix/rbss-movetopose.nix new file mode 100644 index 0000000..061bedb --- /dev/null +++ b/.nix/rbss-movetopose.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchgit, ament-cmake, ament-cmake-python, ament-lint-auto, ament-lint-common, rbs-skill-interfaces, rclcpp, rclpy, std-msgs }: +buildRosPackage rec { + pname = "ros-jazzy-rbss-movetopose"; + version = "0.0.1"; + + src = fetchgit { + url = "git@gitlab.com:robossembler/robossembler-ros2.git"; + rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; + sha256 = "06mmi33qq24vkjs5575v86vrq7bvmqwlm8ls3mahlwl68awqw5x2"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/rbss_movetopose/"; + buildInputs = [ ament-cmake ament-cmake-python ]; + checkInputs = [ ament-lint-auto ament-lint-common ]; + propagatedBuildInputs = [ rbs-skill-interfaces rclcpp rclpy std-msgs ]; + nativeBuildInputs = [ ament-cmake ament-cmake-python ]; + + meta = { + description = "The Move to pose skill"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/rbss-objectdetection.nix b/.nix/rbss-objectdetection.nix new file mode 100644 index 0000000..6e22e8e --- /dev/null +++ b/.nix/rbss-objectdetection.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchgit, ament-cmake, ament-cmake-python, ament-lint-auto, ament-lint-common, cv-bridge, image-transport, rbs-skill-interfaces, rclcpp, rclpy, sensor-msgs, std-msgs }: +buildRosPackage rec { + pname = "ros-jazzy-rbss-objectdetection"; + version = "0.0.1"; + + src = fetchgit { + url = "git@gitlab.com:robossembler/robossembler-ros2.git"; + rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; + sha256 = "06mmi33qq24vkjs5575v86vrq7bvmqwlm8ls3mahlwl68awqw5x2"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/rbss_objectdetection/"; + buildInputs = [ ament-cmake ament-cmake-python ]; + checkInputs = [ ament-lint-auto ament-lint-common ]; + propagatedBuildInputs = [ cv-bridge image-transport rbs-skill-interfaces rclcpp rclpy sensor-msgs std-msgs ]; + nativeBuildInputs = [ ament-cmake ament-cmake-python ]; + + meta = { + description = "The Object Detection skill"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/rbss-poseestimation.nix b/.nix/rbss-poseestimation.nix new file mode 100644 index 0000000..1ae791f --- /dev/null +++ b/.nix/rbss-poseestimation.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchgit, ament-cmake, ament-cmake-python, ament-lint-auto, ament-lint-common, cv-bridge, image-transport, rbs-skill-interfaces, rclpy, sensor-msgs, std-msgs }: +buildRosPackage rec { + pname = "ros-jazzy-rbss-poseestimation"; + version = "0.0.1"; + + src = fetchgit { + url = "git@gitlab.com:robossembler/robossembler-ros2.git"; + rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; + sha256 = "06mmi33qq24vkjs5575v86vrq7bvmqwlm8ls3mahlwl68awqw5x2"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/rbss_poseestimation/"; + buildInputs = [ ament-cmake ament-cmake-python ]; + checkInputs = [ ament-lint-auto ament-lint-common ]; + propagatedBuildInputs = [ cv-bridge image-transport rbs-skill-interfaces rclpy sensor-msgs std-msgs ]; + nativeBuildInputs = [ ament-cmake ament-cmake-python ]; + + meta = { + description = "The Pose Estimation skill"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/result b/.nix/result new file mode 120000 index 0000000..28fd9ce --- /dev/null +++ b/.nix/result @@ -0,0 +1 @@ +/nix/store/m92f2wcjw5q4bdwclqxc4yp8x3jlq7jg-ros-jazzy-rbs-arm-0.0.0 \ No newline at end of file diff --git a/.nix/robonomics.nix b/.nix/robonomics.nix new file mode 100644 index 0000000..5f9069c --- /dev/null +++ b/.nix/robonomics.nix @@ -0,0 +1,22 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchgit, ament-copyright, ament-flake8, ament-pep257, pythonPackages, rclpy }: +buildRosPackage rec { + pname = "ros-jazzy-robonomics"; + version = "0.1.0"; + + src = fetchgit { + url = "git@gitlab.com:robossembler/robossembler-ros2.git"; + rev = "d6cd0d5601493ad4f4b7c77b7cbc2d62455c8176"; + sha256 = "06mmi33qq24vkjs5575v86vrq7bvmqwlm8ls3mahlwl68awqw5x2"; + }; + + buildType = "ament_python"; + sourceRoot = "${src.name}/robonomics/"; + checkInputs = [ ament-copyright ament-flake8 ament-pep257 pythonPackages.pytest ]; + propagatedBuildInputs = [ rclpy ]; + + meta = { + description = "Package for Robossember-Robonomics interoperability"; + license = with lib.licenses; [ "Apache-license-2.0" ]; + }; +} diff --git a/.nix/robot-builder.nix b/.nix/robot-builder.nix new file mode 100644 index 0000000..2659bf4 --- /dev/null +++ b/.nix/robot-builder.nix @@ -0,0 +1,21 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, ament-copyright, ament-flake8, ament-pep257, pythonPackages }: +buildRosPackage rec { + pname = "ros-jazzy-robot-builder"; + version = "0.0.0"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "robot-builder"; + rev = "5f02b5868047767df2ab8f4bc026fe40a420e94d"; + sha256 = "08wi1lk584r6nm9j169rg7d944wp167xk5aw0x5b1smbqnsgcdq5"; + }; + + buildType = "ament_python"; + checkInputs = [ ament-copyright ament-flake8 ament-pep257 pythonPackages.pytest ]; + + meta = { + description = "TODO: Package description"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/ros2-control-test-assets.nix b/.nix/ros2-control-test-assets.nix new file mode 100644 index 0000000..6f0be2e --- /dev/null +++ b/.nix/ros2-control-test-assets.nix @@ -0,0 +1,23 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake }: +buildRosPackage rec { + pname = "ros-jazzy-ros2-control-test-assets"; + version = "2.39.1"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "ros2_control"; + rev = "e4a4aade5aa844f2bfb693d389e048ca509ce7db"; + sha256 = "06jl0b3cwqdja8k901gjxnp5dgpnis61m10qwk4ghv17h197y02b"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/ros2_control_test_assets/"; + buildInputs = [ ament-cmake ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "The package provides shared test resources for ros2_control stack"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/ros2-control.nix b/.nix/ros2-control.nix new file mode 100644 index 0000000..79f7ea3 --- /dev/null +++ b/.nix/ros2-control.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, controller-interface, controller-manager, controller-manager-msgs, hardware-interface, joint-limits, ros2-control-test-assets, ros2controlcli, transmission-interface }: +buildRosPackage rec { + pname = "ros-jazzy-ros2-control"; + version = "2.39.1"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "ros2_control"; + rev = "e4a4aade5aa844f2bfb693d389e048ca509ce7db"; + sha256 = "06jl0b3cwqdja8k901gjxnp5dgpnis61m10qwk4ghv17h197y02b"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/ros2_control/"; + buildInputs = [ ament-cmake ]; + propagatedBuildInputs = [ controller-interface controller-manager controller-manager-msgs hardware-interface joint-limits ros2-control-test-assets ros2controlcli transmission-interface ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "Metapackage for ROS2 control related packages"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/ros2controlcli.nix b/.nix/ros2controlcli.nix new file mode 100644 index 0000000..e5071aa --- /dev/null +++ b/.nix/ros2controlcli.nix @@ -0,0 +1,23 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, ament-copyright, ament-flake8, ament-pep257, ament-xmllint, controller-manager, controller-manager-msgs, python3Packages, rcl-interfaces, rclpy, ros2cli, ros2node, ros2param, rosidl-runtime-py }: +buildRosPackage rec { + pname = "ros-jazzy-ros2controlcli"; + version = "2.39.1"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "ros2_control"; + rev = "e4a4aade5aa844f2bfb693d389e048ca509ce7db"; + sha256 = "06jl0b3cwqdja8k901gjxnp5dgpnis61m10qwk4ghv17h197y02b"; + }; + + buildType = "ament_python"; + sourceRoot = "${src.name}/ros2controlcli/"; + checkInputs = [ ament-copyright ament-flake8 ament-pep257 ament-xmllint ]; + propagatedBuildInputs = [ controller-manager controller-manager-msgs python3Packages.pygraphviz rcl-interfaces rclpy ros2cli ros2node ros2param rosidl-runtime-py ]; + + meta = { + description = "The ROS 2 command line tools for ROS2 Control."; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/rqt-controller-manager.nix b/.nix/rqt-controller-manager.nix new file mode 100644 index 0000000..08a4b98 --- /dev/null +++ b/.nix/rqt-controller-manager.nix @@ -0,0 +1,22 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, controller-manager-msgs, rclpy, rqt-gui, rqt-gui-py }: +buildRosPackage rec { + pname = "ros-jazzy-rqt-controller-manager"; + version = "2.39.1"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "ros2_control"; + rev = "e4a4aade5aa844f2bfb693d389e048ca509ce7db"; + sha256 = "06jl0b3cwqdja8k901gjxnp5dgpnis61m10qwk4ghv17h197y02b"; + }; + + buildType = "ament_python"; + sourceRoot = "${src.name}/rqt_controller_manager/"; + propagatedBuildInputs = [ controller-manager-msgs rclpy rqt-gui rqt-gui-py ]; + + meta = { + description = "Graphical frontend for interacting with the controller manager."; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/test-dynmsg.nix b/.nix/test-dynmsg.nix new file mode 100644 index 0000000..1d99df1 --- /dev/null +++ b/.nix/test-dynmsg.nix @@ -0,0 +1,25 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, builtin-interfaces, dynmsg, rcl-interfaces, std-msgs, test-msgs }: +buildRosPackage rec { + pname = "ros-jazzy-test-dynmsg"; + version = "1.0.0"; + + src = fetchFromGitHub { + owner = "osrf"; + repo = "dynamic_message_introspection"; + rev = "50277e341f61455c42a6015b5718804a4f8588f6"; + sha256 = "1kayqlmgpzz6lg4sfv6hlm1ak0jhmgqlarbj9wk3206as5iwhbhd"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/test_dynmsg/"; + buildInputs = [ ament-cmake ]; + checkInputs = [ ament-cmake-gtest ament-lint-auto ament-lint-common builtin-interfaces rcl-interfaces test-msgs ]; + propagatedBuildInputs = [ dynmsg std-msgs ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "Tests for the dynmsg package"; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/transmission-interface.nix b/.nix/transmission-interface.nix new file mode 100644 index 0000000..5fd4e4d --- /dev/null +++ b/.nix/transmission-interface.nix @@ -0,0 +1,25 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-cmake-gmock, hardware-interface, pluginlib }: +buildRosPackage rec { + pname = "ros-jazzy-transmission-interface"; + version = "2.39.1"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "ros2_control"; + rev = "e4a4aade5aa844f2bfb693d389e048ca509ce7db"; + sha256 = "06jl0b3cwqdja8k901gjxnp5dgpnis61m10qwk4ghv17h197y02b"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/transmission_interface/"; + buildInputs = [ ament-cmake ]; + checkInputs = [ ament-cmake-gmock ]; + propagatedBuildInputs = [ hardware-interface pluginlib ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "transmission_interface contains data structures for representing mechanical transmissions, methods for propagating values between actuator and joint spaces and tooling to support this."; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/ur-bringup.nix b/.nix/ur-bringup.nix new file mode 100644 index 0000000..e05f923 --- /dev/null +++ b/.nix/ur-bringup.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-cmake-python, controller-manager, force-torque-sensor-broadcaster, joint-state-broadcaster, joint-state-publisher, joint-trajectory-controller, launch, launch-ros, position-controllers, rclpy, robot-state-publisher, ros2-controllers-test-nodes, rviz2, ur-controllers, ur-description, urdf, velocity-controllers, xacro }: +buildRosPackage rec { + pname = "ros-jazzy-ur-bringup"; + version = "2.2.9"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "Universal_Robots_ROS2_Driver"; + rev = "5a26d5376b58d1fd7d147a836d416eba551c45df"; + sha256 = "1v1j8rbwq1i2pyadmhcvv94bs4jgfprs8ylgbd7aaff3z9n52dcb"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/ur_bringup/"; + buildInputs = [ ament-cmake ament-cmake-python ]; + propagatedBuildInputs = [ controller-manager force-torque-sensor-broadcaster joint-state-broadcaster joint-state-publisher joint-trajectory-controller launch launch-ros position-controllers rclpy robot-state-publisher ros2-controllers-test-nodes rviz2 ur-controllers ur-description urdf velocity-controllers xacro ]; + nativeBuildInputs = [ ament-cmake ament-cmake-python ]; + + meta = { + description = "Launch file and run-time configurations, e.g. controllers."; + license = with lib.licenses; [ bsd3 ]; + }; +} diff --git a/.nix/ur-calibration.nix b/.nix/ur-calibration.nix new file mode 100644 index 0000000..063a794 --- /dev/null +++ b/.nix/ur-calibration.nix @@ -0,0 +1,25 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-cmake-gmock, ament-cmake-gtest, ament-lint-auto, ament-lint-common, eigen, rclcpp, ur-client-library, ur-robot-driver, yaml-cpp }: +buildRosPackage rec { + pname = "ros-jazzy-ur-calibration"; + version = "2.2.9"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "Universal_Robots_ROS2_Driver"; + rev = "5a26d5376b58d1fd7d147a836d416eba551c45df"; + sha256 = "1v1j8rbwq1i2pyadmhcvv94bs4jgfprs8ylgbd7aaff3z9n52dcb"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/ur_calibration/"; + buildInputs = [ ament-cmake ]; + checkInputs = [ ament-cmake-gmock ament-cmake-gtest ament-lint-auto ament-lint-common ]; + propagatedBuildInputs = [ eigen rclcpp ur-client-library ur-robot-driver yaml-cpp ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "Package for extracting the factory calibration from a UR robot and change it such that it can be used by ur_description to gain a correct URDF"; + license = with lib.licenses; [ bsd3 ]; + }; +} diff --git a/.nix/ur-controllers.nix b/.nix/ur-controllers.nix new file mode 100644 index 0000000..ccf5cd2 --- /dev/null +++ b/.nix/ur-controllers.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, angles, controller-interface, joint-trajectory-controller, lifecycle-msgs, pluginlib, rclcpp-lifecycle, rcutils, realtime-tools, std-msgs, std-srvs, ur-dashboard-msgs, ur-msgs }: +buildRosPackage rec { + pname = "ros-jazzy-ur-controllers"; + version = "2.2.9"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "Universal_Robots_ROS2_Driver"; + rev = "5a26d5376b58d1fd7d147a836d416eba551c45df"; + sha256 = "1v1j8rbwq1i2pyadmhcvv94bs4jgfprs8ylgbd7aaff3z9n52dcb"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/ur_controllers/"; + buildInputs = [ ament-cmake ]; + propagatedBuildInputs = [ angles controller-interface joint-trajectory-controller lifecycle-msgs pluginlib rclcpp-lifecycle rcutils realtime-tools std-msgs std-srvs ur-dashboard-msgs ur-msgs ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "Provides controllers that use the speed scaling interface of Universal Robots."; + license = with lib.licenses; [ bsd3 ]; + }; +} diff --git a/.nix/ur-dashboard-msgs.nix b/.nix/ur-dashboard-msgs.nix new file mode 100644 index 0000000..86f1cff --- /dev/null +++ b/.nix/ur-dashboard-msgs.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, action-msgs, ament-cmake, rosidl-default-generators, rosidl-default-runtime }: +buildRosPackage rec { + pname = "ros-jazzy-ur-dashboard-msgs"; + version = "2.2.9"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "Universal_Robots_ROS2_Driver"; + rev = "5a26d5376b58d1fd7d147a836d416eba551c45df"; + sha256 = "1v1j8rbwq1i2pyadmhcvv94bs4jgfprs8ylgbd7aaff3z9n52dcb"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/ur_dashboard_msgs/"; + buildInputs = [ ament-cmake rosidl-default-generators ]; + propagatedBuildInputs = [ action-msgs rosidl-default-runtime ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "Messages around the UR Dashboard server."; + license = with lib.licenses; [ bsd3 ]; + }; +} diff --git a/.nix/ur-description.nix b/.nix/ur-description.nix new file mode 100644 index 0000000..8034feb --- /dev/null +++ b/.nix/ur-description.nix @@ -0,0 +1,24 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-cmake-pytest, joint-state-publisher-gui, launch, launch-ros, launch-testing-ament-cmake, launch-testing-ros, robot-state-publisher, rviz2, urdf, urdfdom, xacro }: +buildRosPackage rec { + pname = "ros-jazzy-ur-description"; + version = "2.1.1"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "Universal_Robots_ROS2_Description"; + rev = "1d89319dcf78bdaadc44481285caf64dde9b3ff1"; + sha256 = "0x8wy19rsvp2bp7b7d3wwnvnc611z48msplzr49ybsdwxjsqbfm0"; + }; + + buildType = "ament_cmake"; + buildInputs = [ ament-cmake ]; + checkInputs = [ ament-cmake-pytest launch-testing-ament-cmake launch-testing-ros urdfdom xacro ]; + propagatedBuildInputs = [ joint-state-publisher-gui launch launch-ros robot-state-publisher rviz2 urdf xacro ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "URDF description for Universal Robots"; + license = with lib.licenses; [ bsd3 "Universal-Robots-A-S’-Terms-and-Conditions-for-Use-of-Graphical-Documentation" ]; + }; +} diff --git a/.nix/ur-moveit-config.nix b/.nix/ur-moveit-config.nix new file mode 100644 index 0000000..28b4118 --- /dev/null +++ b/.nix/ur-moveit-config.nix @@ -0,0 +1,23 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-cmake-python, launch, launch-ros, moveit-kinematics, moveit-planners-ompl, moveit-ros-move-group, moveit-ros-visualization, moveit-servo, moveit-simple-controller-manager, rviz2, ur-description, urdf, warehouse-ros-sqlite, xacro }: +buildRosPackage rec { + pname = "ros-jazzy-ur-moveit-config"; + version = "2.2.4"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "ur_moveit_config"; + rev = "4d745a96f0798519816c5553c51199edb9e6f74c"; + sha256 = "0nancpam0v4jx2fpn7h0kz49sff3wz6mna5765b28cbdgnhizmla"; + }; + + buildType = "ament_cmake"; + buildInputs = [ ament-cmake ament-cmake-python ]; + propagatedBuildInputs = [ launch launch-ros moveit-kinematics moveit-planners-ompl moveit-ros-move-group moveit-ros-visualization moveit-servo moveit-simple-controller-manager rviz2 ur-description urdf warehouse-ros-sqlite xacro ]; + nativeBuildInputs = [ ament-cmake ament-cmake-python ]; + + meta = { + description = "An example package with MoveIt2 configurations for UR robots."; + license = with lib.licenses; [ asl20 ]; + }; +} diff --git a/.nix/ur-robot-driver.nix b/.nix/ur-robot-driver.nix new file mode 100644 index 0000000..9678aaf --- /dev/null +++ b/.nix/ur-robot-driver.nix @@ -0,0 +1,25 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-cmake-python, backward-ros, controller-manager, controller-manager-msgs, docker, force-torque-sensor-broadcaster, geometry-msgs, hardware-interface, joint-state-broadcaster, joint-state-publisher, joint-trajectory-controller, launch, launch-ros, launch-testing-ament-cmake, pluginlib, position-controllers, rclcpp, rclcpp-lifecycle, rclpy, robot-state-publisher, ros2-controllers-test-nodes, rviz2, socat, std-msgs, std-srvs, tf2-geometry-msgs, ur-client-library, ur-controllers, ur-dashboard-msgs, ur-description, ur-msgs, urdf, velocity-controllers, xacro }: +buildRosPackage rec { + pname = "ros-jazzy-ur-robot-driver"; + version = "2.2.9"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "Universal_Robots_ROS2_Driver"; + rev = "5a26d5376b58d1fd7d147a836d416eba551c45df"; + sha256 = "1v1j8rbwq1i2pyadmhcvv94bs4jgfprs8ylgbd7aaff3z9n52dcb"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/ur_robot_driver/"; + buildInputs = [ ament-cmake ament-cmake-python ]; + checkInputs = [ docker launch-testing-ament-cmake ]; + propagatedBuildInputs = [ backward-ros controller-manager controller-manager-msgs force-torque-sensor-broadcaster geometry-msgs hardware-interface joint-state-broadcaster joint-state-publisher joint-trajectory-controller launch launch-ros pluginlib position-controllers rclcpp rclcpp-lifecycle rclpy robot-state-publisher ros2-controllers-test-nodes rviz2 socat std-msgs std-srvs tf2-geometry-msgs ur-client-library ur-controllers ur-dashboard-msgs ur-description ur-msgs urdf velocity-controllers xacro ]; + nativeBuildInputs = [ ament-cmake ament-cmake-python ]; + + meta = { + description = "The new driver for Universal Robots UR3, UR5 and UR10 robots with CB3 controllers and the e-series."; + license = with lib.licenses; [ bsd3 ]; + }; +} diff --git a/.nix/ur.nix b/.nix/ur.nix new file mode 100644 index 0000000..852212a --- /dev/null +++ b/.nix/ur.nix @@ -0,0 +1,25 @@ +# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --flake --distro jazzy --output-dir .nix +{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-lint-auto, ament-lint-common, ur-calibration, ur-controllers, ur-dashboard-msgs, ur-moveit-config, ur-robot-driver }: +buildRosPackage rec { + pname = "ros-jazzy-ur"; + version = "2.2.9"; + + src = fetchFromGitHub { + owner = "solid-sinusoid"; + repo = "Universal_Robots_ROS2_Driver"; + rev = "5a26d5376b58d1fd7d147a836d416eba551c45df"; + sha256 = "1v1j8rbwq1i2pyadmhcvv94bs4jgfprs8ylgbd7aaff3z9n52dcb"; + }; + + buildType = "ament_cmake"; + sourceRoot = "${src.name}/ur/"; + buildInputs = [ ament-cmake ]; + checkInputs = [ ament-lint-auto ament-lint-common ]; + propagatedBuildInputs = [ ur-calibration ur-controllers ur-dashboard-msgs ur-moveit-config ur-robot-driver ]; + nativeBuildInputs = [ ament-cmake ]; + + meta = { + description = "Metapackage for universal robots"; + license = with lib.licenses; [ bsd3 ]; + }; +}