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# Catkin Tools Metadata
This directory was generated by catkin_tools and it contains persistent
configuration information used by the `catkin` command and its sub-commands.
Each subdirectory of the `profiles` directory contains a set of persistent
configuration options for separate profiles. The default profile is called
`default`. If another profile is desired, it can be described in the
`profiles.yaml` file in this directory.
Please see the catkin_tools documentation before editing any files in this
directory. Most actions can be performed with the `catkin` command-line
program.

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0.9.4

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authors: []
blacklist: []
build_space: build
catkin_make_args: []
cmake_args:
- -DCMAKE_BUILD_TYPE=RelWithDebInfo
devel_layout: linked
devel_space: devel
extend_path: null
extends: null
install: false
install_space: install
isolate_install: false
jobs_args: []
licenses:
- TODO
log_space: logs
maintainers: []
make_args: []
source_space: src
use_env_cache: false
use_internal_make_jobserver: true
whitelist: []

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authors: []
blacklist: []
build_space: build
catkin_make_args: []
cmake_args:
- -DCMAKE_BUILD_TYPE=RelWithDebInfo
devel_layout: linked
devel_space: devel
extend_path: null
extends: null
install: false
install_space: install
isolate_install: false
jobs_args: []
licenses:
- TODO
log_space: logs
maintainers: []
make_args: []
source_space: src
use_env_cache: false
use_internal_make_jobserver: true
whitelist: []

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/home/robofish/CM_DOG/devel/./cmake.lock 1618

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ocs2/ocs2_sqp/blasfeo_catkin
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/home/robofish/CM_DOG/devel/.private/blasfeo_catkin/include/blasfeo_common.h /home/robofish/CM_DOG/devel/include/blasfeo_common.h
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/home/robofish/CM_DOG/devel/.private/blasfeo_catkin/include/blasfeo_v_aux_ext_dep.h /home/robofish/CM_DOG/devel/include/blasfeo_v_aux_ext_dep.h
/home/robofish/CM_DOG/devel/.private/blasfeo_catkin/include/blasfeo_s_aux_old.h /home/robofish/CM_DOG/devel/include/blasfeo_s_aux_old.h
/home/robofish/CM_DOG/devel/.private/blasfeo_catkin/lib/libblasfeo.so /home/robofish/CM_DOG/devel/lib/libblasfeo.so
/home/robofish/CM_DOG/devel/.private/blasfeo_catkin/lib/pkgconfig/blasfeo_catkin.pc /home/robofish/CM_DOG/devel/lib/pkgconfig/blasfeo_catkin.pc

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<?xml version="1.0"?>
<package format="2">
<name>blasfeo_catkin</name>
<version>0.0.0</version>
<description>Catkin wrapper for Blasfeo.</description>
<maintainer email="rgrandia@ethz.ch">Ruben Grandia</maintainer>
<license>See package</license>
<buildtool_depend>catkin</buildtool_depend>
</package>

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/home/robofish/CM_DOG/build/catkin_tools_prebuild
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/home/robofish/CM_DOG/devel/.private/catkin_tools_prebuild/local_setup.zsh /home/robofish/CM_DOG/devel/./local_setup.zsh
/home/robofish/CM_DOG/devel/.private/catkin_tools_prebuild/_setup_util.py /home/robofish/CM_DOG/devel/./_setup_util.py
/home/robofish/CM_DOG/devel/.private/catkin_tools_prebuild/env.sh /home/robofish/CM_DOG/devel/./env.sh
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/home/robofish/CM_DOG/devel/.private/catkin_tools_prebuild/setup.zsh /home/robofish/CM_DOG/devel/./setup.zsh
/home/robofish/CM_DOG/devel/.private/catkin_tools_prebuild/setup.sh /home/robofish/CM_DOG/devel/./setup.sh
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<package>
<name>catkin_tools_prebuild</name>
<description>
This package is used to generate catkin setup files.
</description>
<version>0.0.0</version>
<license>BSD</license>
<maintainer email="jbo@jhu.edu">jbohren</maintainer>
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fdilink_ahrs
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<?xml version="1.0"?>
<package format="2">
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<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="jwliang@iflytek.com">iflytek</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>TODO</license>
<buildtool_depend>catkin</buildtool_depend>
<buildtool_depend>genmsg</buildtool_depend>
<!-- <build_depend>geometry_msgs</build_depend> -->
<build_depend>roscpp</build_depend>
<build_depend>rospy</build_depend>
<build_depend>sensor_msgs</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>message_generation</build_depend>
<build_depend>message_runtime</build_depend>
<build_depend>tf</build_depend>
<build_depend>nav_msgs</build_depend>
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<build_export_depend>rospy</build_export_depend>
<build_export_depend>sensor_msgs</build_export_depend>
<build_export_depend>std_msgs</build_export_depend>
<build_export_depend>message_generation</build_export_depend>
<build_export_depend>message_runtime</build_export_depend>
<build_export_depend>tf</build_export_depend>
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<exec_depend>roscpp</exec_depend>
<exec_depend>rospy</exec_depend>
<exec_depend>sensor_msgs</exec_depend>
<exec_depend>std_msgs</exec_depend>
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<!-- The export tag contains other, unspecified, tags -->
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<!-- Other tools can request additional information be placed here -->
</export>
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<build_export_depend>message_generation</build_export_depend>
<exec_depend>message_runtime</exec_depend> -->
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<?xml version="1.0"?>
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ocs2/ocs2_oc
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/home/robofish/CM_DOG/devel/include/pinocchio/multibody/liegroup/liegroup-algo.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/multibody/liegroup/liegroup-algo.hxx
/home/robofish/CM_DOG/devel/include/pinocchio/multibody/liegroup/liegroup-base.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/multibody/liegroup/liegroup-base.hxx
/home/robofish/CM_DOG/devel/include/pinocchio/multibody/liegroup/liegroup-collection.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/multibody/liegroup/liegroup-generic.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/multibody/liegroup/liegroup-variant-visitors.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/multibody/liegroup/liegroup-variant-visitors.hxx
/home/robofish/CM_DOG/devel/include/pinocchio/multibody/liegroup/liegroup.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/multibody/liegroup/special-euclidean.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/multibody/liegroup/special-orthogonal.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/multibody/liegroup/vector-space.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/multibody/model.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/multibody/model.hxx
/home/robofish/CM_DOG/devel/include/pinocchio/multibody/visitor.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/multibody/visitor/fusion.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/multibody/visitor/joint-binary-visitor.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/multibody/visitor/joint-unary-visitor.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/parsers/sample-models.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/parsers/sample-models.hxx
/home/robofish/CM_DOG/devel/include/pinocchio/parsers/srdf.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/parsers/srdf.hxx
/home/robofish/CM_DOG/devel/include/pinocchio/parsers/urdf.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/parsers/urdf/geometry.hxx
/home/robofish/CM_DOG/devel/include/pinocchio/parsers/urdf/model.hxx
/home/robofish/CM_DOG/devel/include/pinocchio/parsers/urdf/types.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/parsers/urdf/utils.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/parsers/utils.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/serialization/aligned-vector.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/serialization/archive.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/serialization/data.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/serialization/eigen.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/serialization/force.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/serialization/frame.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/serialization/fwd.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/serialization/inertia.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/serialization/joints-constraint.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/serialization/joints-data.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/serialization/joints-model.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/serialization/joints-motion.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/serialization/joints-transform.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/serialization/joints.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/serialization/model.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/serialization/motion.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/serialization/se3.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/serialization/serializable.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/serialization/spatial.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/serialization/symmetric3.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/serialization/vector.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/spatial/act-on-set.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/spatial/act-on-set.hxx
/home/robofish/CM_DOG/devel/include/pinocchio/spatial/cartesian-axis.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/spatial/explog-quaternion.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/spatial/explog.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/spatial/fcl-pinocchio-conversions.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/spatial/force-base.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/spatial/force-dense.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/spatial/force-ref.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/spatial/force-tpl.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/spatial/force.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/spatial/fwd.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/spatial/inertia.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/spatial/log.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/spatial/log.hxx
/home/robofish/CM_DOG/devel/include/pinocchio/spatial/motion-base.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/spatial/motion-dense.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/spatial/motion-ref.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/spatial/motion-tpl.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/spatial/motion-zero.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/spatial/motion.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/spatial/se3-base.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/spatial/se3-tpl.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/spatial/se3.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/spatial/skew.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/spatial/spatial-axis.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/spatial/symmetric3.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/utils/axis-label.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/utils/cast.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/utils/eigen-fix.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/utils/file-explorer.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/utils/helpers.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/utils/static-if.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/utils/string-generator.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/utils/timer.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/utils/version.hpp
/home/robofish/CM_DOG/devel/include/pinocchio/macros.hpp
/home/robofish/CM_DOG/devel/share/pinocchio/package.xml
/home/robofish/CM_DOG/devel/lib/pkgconfig/pinocchio.pc
/home/robofish/CM_DOG/devel/lib/cmake/pinocchio/pinocchioConfig.cmake
/home/robofish/CM_DOG/devel/lib/cmake/pinocchio/pinocchioConfigVersion.cmake
/home/robofish/CM_DOG/devel/lib/cmake/pinocchio/pinocchioTargets.cmake
/home/robofish/CM_DOG/devel/lib/cmake/pinocchio/pinocchioTargets-relwithdebinfo.cmake
/home/robofish/CM_DOG/devel/lib/libpinocchio.so.2.5.1
/home/robofish/CM_DOG/devel/lib/libpinocchio.so

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<?xml version="1.0"?>
<package format="3">
<name>pinocchio</name>
<version>2.5.1</version>
<description>A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives.</description>
<!-- The maintainer listed here is for the ROS release to receive emails for the buildfarm.
Please check the repository URL for full list of authors and maintainers. -->
<maintainer email="justin.carpentier@inria.fr">Justin Carpentier</maintainer>
<maintainer email="opensource@wolfgangmerkt.com">Wolfgang Merkt</maintainer>
<license>BSD</license>
<url type="website">https://github.com/stack-of-tasks/pinocchio</url>
<build_depend>git</build_depend>
<build_depend>doxygen</build_depend>
<doc_depend>doxygen</doc_depend>
<doc_depend>texlive-latex-base</doc_depend>
<!-- The following tags are recommended by REP-136 -->
<exec_depend condition="$ROS_VERSION == 1">catkin</exec_depend>
<exec_depend condition="$ROS_VERSION == 2">ament_cmake</exec_depend>
<depend condition="$ROS_PYTHON_VERSION == 2">python</depend>
<depend condition="$ROS_PYTHON_VERSION == 3">python3</depend>
<depend condition="$ROS_PYTHON_VERSION == 2">python-numpy</depend>
<depend condition="$ROS_PYTHON_VERSION == 3">python3-numpy</depend>
<depend>liburdfdom-dev</depend>
<depend>eigen</depend>
<depend>boost</depend>
<!-- <depend>eigenpy</depend> -->
<!-- The ROS-released HPP-FCL is not yet ready for use with Pinocchio out of the box (old version).
Additionally, as BUILD_WITH_COLLISION_SUPPORT is default OFF, the ROS buildfarm would not configure it proper either way. -->
<depend>hpp-fcl</depend>
<buildtool_depend>cmake</buildtool_depend>
<export>
<build_type>cmake</build_type>
</export>
</package>

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legged_control/qpoases_catkin
/home/robofish/CM_DOG/devel/.private/qpoases_catkin/cmake.lock /home/robofish/CM_DOG/devel/./cmake.lock
/home/robofish/CM_DOG/devel/.private/qpoases_catkin/share/qpoases_catkin/cmake/qpoases_catkinConfig.cmake /home/robofish/CM_DOG/devel/share/qpoases_catkin/cmake/qpoases_catkinConfig.cmake
/home/robofish/CM_DOG/devel/.private/qpoases_catkin/share/qpoases_catkin/cmake/qpoases_catkinConfig-version.cmake /home/robofish/CM_DOG/devel/share/qpoases_catkin/cmake/qpoases_catkinConfig-version.cmake
/home/robofish/CM_DOG/devel/.private/qpoases_catkin/include/qpOASES.hpp /home/robofish/CM_DOG/devel/include/qpOASES.hpp
/home/robofish/CM_DOG/devel/.private/qpoases_catkin/include/qpOASES/SparseSolver.hpp /home/robofish/CM_DOG/devel/include/qpOASES/SparseSolver.hpp
/home/robofish/CM_DOG/devel/.private/qpoases_catkin/include/qpOASES/SQProblemSchur.ipp /home/robofish/CM_DOG/devel/include/qpOASES/SQProblemSchur.ipp
/home/robofish/CM_DOG/devel/.private/qpoases_catkin/include/qpOASES/QProblem.ipp /home/robofish/CM_DOG/devel/include/qpOASES/QProblem.ipp
/home/robofish/CM_DOG/devel/.private/qpoases_catkin/include/qpOASES/UnitTesting.hpp /home/robofish/CM_DOG/devel/include/qpOASES/UnitTesting.hpp
/home/robofish/CM_DOG/devel/.private/qpoases_catkin/include/qpOASES/Indexlist.ipp /home/robofish/CM_DOG/devel/include/qpOASES/Indexlist.ipp
/home/robofish/CM_DOG/devel/.private/qpoases_catkin/include/qpOASES/Matrices.hpp /home/robofish/CM_DOG/devel/include/qpOASES/Matrices.hpp
/home/robofish/CM_DOG/devel/.private/qpoases_catkin/include/qpOASES/Constants.hpp /home/robofish/CM_DOG/devel/include/qpOASES/Constants.hpp
/home/robofish/CM_DOG/devel/.private/qpoases_catkin/include/qpOASES/SolutionAnalysis.ipp /home/robofish/CM_DOG/devel/include/qpOASES/SolutionAnalysis.ipp
/home/robofish/CM_DOG/devel/.private/qpoases_catkin/include/qpOASES/SolutionAnalysis.hpp /home/robofish/CM_DOG/devel/include/qpOASES/SolutionAnalysis.hpp
/home/robofish/CM_DOG/devel/.private/qpoases_catkin/include/qpOASES/Bounds.hpp /home/robofish/CM_DOG/devel/include/qpOASES/Bounds.hpp
/home/robofish/CM_DOG/devel/.private/qpoases_catkin/include/qpOASES/SubjectTo.hpp /home/robofish/CM_DOG/devel/include/qpOASES/SubjectTo.hpp
/home/robofish/CM_DOG/devel/.private/qpoases_catkin/include/qpOASES/Constraints.hpp /home/robofish/CM_DOG/devel/include/qpOASES/Constraints.hpp
/home/robofish/CM_DOG/devel/.private/qpoases_catkin/include/qpOASES/Bounds.ipp /home/robofish/CM_DOG/devel/include/qpOASES/Bounds.ipp
/home/robofish/CM_DOG/devel/.private/qpoases_catkin/include/qpOASES/ConstraintProduct.hpp /home/robofish/CM_DOG/devel/include/qpOASES/ConstraintProduct.hpp
/home/robofish/CM_DOG/devel/.private/qpoases_catkin/include/qpOASES/Utils.ipp /home/robofish/CM_DOG/devel/include/qpOASES/Utils.ipp
/home/robofish/CM_DOG/devel/.private/qpoases_catkin/include/qpOASES/Indexlist.hpp /home/robofish/CM_DOG/devel/include/qpOASES/Indexlist.hpp
/home/robofish/CM_DOG/devel/.private/qpoases_catkin/include/qpOASES/MessageHandling.ipp /home/robofish/CM_DOG/devel/include/qpOASES/MessageHandling.ipp
/home/robofish/CM_DOG/devel/.private/qpoases_catkin/include/qpOASES/SQProblemSchur.hpp /home/robofish/CM_DOG/devel/include/qpOASES/SQProblemSchur.hpp
/home/robofish/CM_DOG/devel/.private/qpoases_catkin/include/qpOASES/Types.hpp /home/robofish/CM_DOG/devel/include/qpOASES/Types.hpp
/home/robofish/CM_DOG/devel/.private/qpoases_catkin/include/qpOASES/Utils.hpp /home/robofish/CM_DOG/devel/include/qpOASES/Utils.hpp
/home/robofish/CM_DOG/devel/.private/qpoases_catkin/include/qpOASES/SubjectTo.ipp /home/robofish/CM_DOG/devel/include/qpOASES/SubjectTo.ipp
/home/robofish/CM_DOG/devel/.private/qpoases_catkin/include/qpOASES/Flipper.hpp /home/robofish/CM_DOG/devel/include/qpOASES/Flipper.hpp
/home/robofish/CM_DOG/devel/.private/qpoases_catkin/include/qpOASES/MessageHandling.hpp /home/robofish/CM_DOG/devel/include/qpOASES/MessageHandling.hpp
/home/robofish/CM_DOG/devel/.private/qpoases_catkin/include/qpOASES/Options.hpp /home/robofish/CM_DOG/devel/include/qpOASES/Options.hpp
/home/robofish/CM_DOG/devel/.private/qpoases_catkin/include/qpOASES/SQProblem.hpp /home/robofish/CM_DOG/devel/include/qpOASES/SQProblem.hpp
/home/robofish/CM_DOG/devel/.private/qpoases_catkin/include/qpOASES/LapackBlasReplacement.hpp /home/robofish/CM_DOG/devel/include/qpOASES/LapackBlasReplacement.hpp
/home/robofish/CM_DOG/devel/.private/qpoases_catkin/include/qpOASES/QProblem.hpp /home/robofish/CM_DOG/devel/include/qpOASES/QProblem.hpp
/home/robofish/CM_DOG/devel/.private/qpoases_catkin/include/qpOASES/Constraints.ipp /home/robofish/CM_DOG/devel/include/qpOASES/Constraints.ipp
/home/robofish/CM_DOG/devel/.private/qpoases_catkin/include/qpOASES/QProblemB.ipp /home/robofish/CM_DOG/devel/include/qpOASES/QProblemB.ipp
/home/robofish/CM_DOG/devel/.private/qpoases_catkin/include/qpOASES/SQProblem.ipp /home/robofish/CM_DOG/devel/include/qpOASES/SQProblem.ipp
/home/robofish/CM_DOG/devel/.private/qpoases_catkin/include/qpOASES/QProblemB.hpp /home/robofish/CM_DOG/devel/include/qpOASES/QProblemB.hpp
/home/robofish/CM_DOG/devel/.private/qpoases_catkin/include/qpOASES/OQPinterface.hpp /home/robofish/CM_DOG/devel/include/qpOASES/OQPinterface.hpp
/home/robofish/CM_DOG/devel/.private/qpoases_catkin/include/qpOASES/extras/SolutionAnalysis.ipp /home/robofish/CM_DOG/devel/include/qpOASES/extras/SolutionAnalysis.ipp
/home/robofish/CM_DOG/devel/.private/qpoases_catkin/include/qpOASES/extras/SolutionAnalysis.hpp /home/robofish/CM_DOG/devel/include/qpOASES/extras/SolutionAnalysis.hpp
/home/robofish/CM_DOG/devel/.private/qpoases_catkin/include/qpOASES/extras/OQPinterface.hpp /home/robofish/CM_DOG/devel/include/qpOASES/extras/OQPinterface.hpp
/home/robofish/CM_DOG/devel/.private/qpoases_catkin/lib/libqpOASES.so /home/robofish/CM_DOG/devel/lib/libqpOASES.so
/home/robofish/CM_DOG/devel/.private/qpoases_catkin/lib/libqpOASES.so.3.2 /home/robofish/CM_DOG/devel/lib/libqpOASES.so.3.2
/home/robofish/CM_DOG/devel/.private/qpoases_catkin/lib/pkgconfig/qpoases_catkin.pc /home/robofish/CM_DOG/devel/lib/pkgconfig/qpoases_catkin.pc

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<?xml version="1.0"?>
<package format="2">
<name>qpoases_catkin</name>
<version>0.0.0</version>
<description>Catkin wrapper for qpoases.</description>
<maintainer email="liaoqiayuan@gmail.com">Qiayuan Liao</maintainer>
<license>See package</license>
<buildtool_depend>catkin</buildtool_depend>
</package>

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active: default

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.catkin_workspace Normal file
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# This file currently only serves to mark the location of a catkin workspace for tool integration

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# ---> ROS
devel/
logs/
build/
bin/
lib/
msg_gen/
srv_gen/
msg/*Action.msg
msg/*ActionFeedback.msg
msg/*ActionGoal.msg
msg/*ActionResult.msg
msg/*Feedback.msg
msg/*Goal.msg
msg/*Result.msg
msg/_*.py
build_isolated/
devel_isolated/
# Generated by dynamic reconfigure
*.cfgc
/cfg/cpp/
/cfg/*.py
# Ignore generated docs
*.dox
*.wikidoc
# eclipse stuff
.project
.cproject
# qcreator stuff
CMakeLists.txt.user
srv/_*.py
*.pcd
*.pyc
qtcreator-*
*.user
/planning/cfg
/planning/docs
/planning/src
*~
# Emacs
.#*
# Catkin custom files
CATKIN_IGNORE
# ---> C++
# Prerequisites
*.d
# Compiled Object files
*.slo
*.lo
*.o
*.obj
# Precompiled Headers
*.gch
*.pch
# Compiled Dynamic libraries
*.so
*.dylib
*.dll
# Fortran module files
*.mod
*.smod
# Compiled Static libraries
*.lai
*.la
*.a
*.lib
# Executables
*.exe
*.out
*.app
# ---> C
# Prerequisites
*.d
# Object files
*.o
*.ko
*.obj
*.elf
# Linker output
*.ilk
*.map
*.exp
# Precompiled Headers
*.gch
*.pch
# Libraries
*.lib
*.a
*.la
*.lo
# Shared objects (inc. Windows DLLs)
*.dll
*.so
*.so.*
*.dylib
# Executables
*.exe
*.out
*.app
*.i*86
*.x86_64
*.hex
# Debug files
*.dSYM/
*.su
*.idb
*.pdb
# Kernel Module Compile Results
*.mod*
*.cmd
.tmp_versions/
modules.order
Module.symvers
Mkfile.old
dkms.conf

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{
"files.associations": {
"deque": "cpp",
"string": "cpp",
"vector": "cpp",
"hash_map": "cpp",
"hash_set": "cpp",
"*.tcc": "cpp",
"unordered_map": "cpp",
"unordered_set": "cpp",
"string_view": "cpp",
"ranges": "cpp",
"cctype": "cpp",
"clocale": "cpp",
"cmath": "cpp",
"cstdarg": "cpp",
"cstddef": "cpp",
"cstdio": "cpp",
"cstdlib": "cpp",
"cstring": "cpp",
"ctime": "cpp",
"cwchar": "cpp",
"cwctype": "cpp",
"array": "cpp",
"atomic": "cpp",
"bit": "cpp",
"bitset": "cpp",
"chrono": "cpp",
"compare": "cpp",
"complex": "cpp",
"concepts": "cpp",
"condition_variable": "cpp",
"cstdint": "cpp",
"forward_list": "cpp",
"list": "cpp",
"map": "cpp",
"set": "cpp",
"exception": "cpp",
"algorithm": "cpp",
"functional": "cpp",
"iterator": "cpp",
"memory": "cpp",
"memory_resource": "cpp",
"numeric": "cpp",
"optional": "cpp",
"random": "cpp",
"ratio": "cpp",
"system_error": "cpp",
"tuple": "cpp",
"type_traits": "cpp",
"utility": "cpp",
"fstream": "cpp",
"initializer_list": "cpp",
"iomanip": "cpp",
"iosfwd": "cpp",
"iostream": "cpp",
"istream": "cpp",
"limits": "cpp",
"mutex": "cpp",
"new": "cpp",
"ostream": "cpp",
"sstream": "cpp",
"stdexcept": "cpp",
"stop_token": "cpp",
"streambuf": "cpp",
"thread": "cpp",
"cfenv": "cpp",
"cinttypes": "cpp",
"typeinfo": "cpp",
"valarray": "cpp",
"*.ipp": "cpp",
"shared_mutex": "cpp"
}
}

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# JJump_Dog

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# 编译`ocs2_legged_robot_ros`包
catkin config -DCMAKE_BUILD_TYPE=RelWithDebInfo
catkin build ocs2_legged_robot_ros ocs2_self_collision_visualization
# 构建`legged_control`的源代码：
catkin build legged_controllers legged_unitree_description
# 构建模拟
catkin build legged_gazebo
# 构建实际硬件接口机器人
catkin build legged_unitree_hw
# 构建外置N100imu
catkin build fdilink_ahrs

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src/CMakeLists.txt Symbolic link
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/opt/ros/noetic/share/catkin/cmake/toplevel.cmake

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cmake_minimum_required(VERSION 2.8)
project(fdilink_ahrs)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
find_package(Eigen3 REQUIRED)
set(Eigen3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
find_package(catkin REQUIRED COMPONENTS
message_generation
# genmsg
# geometry_msgs
roscpp
rospy
sensor_msgs
std_msgs
tf
# std_srvs
nav_msgs
serial
)
include_directories(
include
src
${catkin_INCLUDE_DIRS}
${Eigen3_INCLUDE_DIRS}
)
catkin_package(
CATKIN_DEPENDS message_runtime
# INCLUDE_DIRS include
# LIBRARIES xf_mic_api
# CATKIN_DEPENDS roscpp rospy senor_msgs std_msgs
# DEPENDS system_lib
)
# set(SERIAL_LIB /opt/ros/kinetic/lib/libserial.so)
# set(SERIAL_LIB_PATH /opt/ros/kinetic/lib)
# link_directories(${SERIAL_LIB_PATH})
## ahrs_driver
add_executable(ahrs_driver src/ahrs_driver.cpp)
target_link_libraries(ahrs_driver crc_table ${catkin_LIBRARIES})# ${SERIAL_LIB}
add_executable(imu_tf src/imu_tf.cpp)
target_link_libraries( imu_tf ${catkin_LIBRARIES})# ${SERIAL_LIB}
## crc_table
add_library(crc_table src/crc_table.cpp)

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## fdilink的imu驱动包
Deta-10-ros-v0.0.1
### 依赖：
```bash
sudo apt install ros-melodic-serial
```
### 使用：
ahrs_driver.launch
```
<launch>
<node pkg="fdilink_ahrs" name="ahrs_driver" type="ahrs_driver" output="screen" >
<!-- 是否输出debug信息 -->
<param name="debug" value="false"/>
<!-- 串口设备，可通过rules.d配置固定 -->
<param name="port" value="/dev/ttyUSB0"/>
<!-- <param name="port" value="/dev/ttyTHS1"/> -->
<!-- 波特率 -->
<param name="baud" value="921600"/>
<!-- 发布的imu话题名 -->
<param name="imu_topic" value="/imu"/>
<!-- 发布的imu话题中的frame_id -->
<param name="imu_frame" value="imu"/>
<!-- 地磁北的yaw角 --> # 二维指北的朝向，北为0，逆时针增加，0~2π的取值范围。
<param name="mag_pose_2d_topic" value="/mag_pose_2d"/>
<!-- 发布的数据基于不同设备有不同的坐标系 -->
<param name="device_type" value="1"/> <!-- 0: origin_data, 1: for single imu or ucar in ROS, 2:for Xiao in ROS -->
</node>
</launch>
```
其中`device_type`：
0. Deta-10的原始坐标系模式
1. 单独imu的坐标系模式
调用的ahrs_driver节点会发布`sensor_msgs/Imu`格式的imu topic。
```
std_msgs/Header header
uint32 seq
time stamp
string frame_id
geometry_msgs/Quaternion orientation
float64 x
float64 y
float64 z
float64 w
float64[9] orientation_covariance
geometry_msgs/Vector3 angular_velocity
float64 x
float64 y
float64 z
float64[9] angular_velocity_covariance
geometry_msgs/Vector3 linear_acceleration
float64 x
float64 y
float64 z
float64[9] linear_acceleration_covariance
```
也会发布`geometry_msgs/Pose2D`格式的二维指北角话题，话题名默认为`/mag_pose_2d`。
```
float64 x
float64 y
float64 theta # 指北角
```
### 2020-1-15
维护了文件注释。
### 2020-10-20
添加了`device_type`参数，可以在`ahrs_data.launch`文件中指定设备类型，根据不同设备类型以不同的坐标系发布ROS的imu数据。
其中：
0. Deta-10的原始坐标系模式
1. 单独imu的坐标系模式

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#ifndef BASE_DRIVER_H_
#define BASE_DRIVER_H_
#include <ros/ros.h>
#include <tf/transform_broadcaster.h>
#include <iostream>
#include <serial/serial.h> //ROS的串口包 http://wjwwood.io/serial/doc/1.1.0/index.html
#include <geometry_msgs/Twist.h>
#include <nav_msgs/Odometry.h>
#include <math.h>
#include <fstream>
#include <fdilink_data_struct.h>
#include <sensor_msgs/Imu.h>
#include <sensor_msgs/NavSatFix.h>
#include <geometry_msgs/Pose2D.h>
#include <boost/thread.hpp>
#include <string>
#include <ros/package.h>
#include <crc_table.h>
using namespace std;
namespace FDILink
{
#define FRAME_HEAD 0xfc
#define FRAME_END 0xfd
#define TYPE_IMU 0x40
#define TYPE_AHRS 0x41
#define TYPE_INSGPS 0x42
#define TYPE_GEODETIC_POS 0x5c
#define TYPE_GROUND 0xf0
#define IMU_LEN 0x38 //56
#define AHRS_LEN 0x30 //48
#define INSGPS_LEN 0x48 //80
#define GEODETIC_POS_LEN 0x20 //32
#define PI 3.141592653589793
#define DEG_TO_RAD 0.017453292519943295
class ahrsBringup
{
public:
ahrsBringup();
~ahrsBringup();
void processLoop();
bool checkCS8(int len);
bool checkCS16(int len);
void checkSN(int type);
void magCalculateYaw(double roll, double pitch, double &magyaw, double magx, double magy, double magz);
ros::NodeHandle nh_;
private:
bool if_debug_;
//sum info
int sn_lost_ = 0;
int crc_error_ = 0;
uint8_t read_sn_ = 0;
bool frist_sn_;
int device_type_ = 1;
//serial
serial::Serial serial_; //声明串口对象
std::string serial_port_;
int serial_baud_;
int serial_timeout_;
//data
FDILink::imu_frame_read imu_frame_;
FDILink::ahrs_frame_read ahrs_frame_;
FDILink::insgps_frame_read insgps_frame_;
//FDILink::lanlon_frame_read latlon_frame_;
FDILink::Geodetic_Position_frame_read Geodetic_Position_frame_;
//frame name
string imu_frame_id_;
string insgps_frame_id_;
string latlon_frame_id_;
//topic
string imu_topic_, mag_pose_2d_topic_;
string latlon_topic_;
string Euler_angles_topic_,Magnetic_topic_;
string gps_topic_,twist_topic_,NED_odom_topic_;
//Publisher
ros::Publisher imu_pub_;
ros::Publisher gps_pub_;
ros::Publisher mag_pose_pub_;
ros::Publisher Euler_angles_pub_;
ros::Publisher Magnetic_pub_;
ros::Publisher twist_pub_;
ros::Publisher NED_odom_pub_;
}; //ahrsBringup
} // namespace FDILink
#endif

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#ifndef CRC_TABLE_H
#define CRC_TABLE_H
#include <stdint.h>
uint8_t CRC8_Table(uint8_t* p, uint8_t counter);
uint16_t CRC16_Table(uint8_t *p, uint8_t counter);
uint32_t CRC32_Table(uint8_t *p, uint8_t counter);
#endif // CRC_TABLE_H

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#ifndef FDILINK_DATA_STRUCT_H_
#define FDILINK_DATA_STRUCT_H_
#include <iostream>
namespace FDILink{
#pragma pack(1)
struct fdilink_header
{
uint8_t header_start;
uint8_t data_type;
uint8_t data_size;
uint8_t serial_num;
uint8_t header_crc8;
uint8_t header_crc16_h;
uint8_t header_crc16_l;
};
#pragma pack()
#pragma pack(1)
struct IMUData_Packet_t
{
float gyroscope_x; //unit: rad/s
float gyroscope_y; //unit: rad/s
float gyroscope_z; //unit: rad/s
float accelerometer_x; //m/s^2
float accelerometer_y; //m/s^2
float accelerometer_z; //m/s^2
float magnetometer_x; //mG
float magnetometer_y; //mG
float magnetometer_z; //mG
float imu_temperature; //C
float Pressure; //Pa
float pressure_temperature; //C
int64_t Timestamp; //us
};
#pragma pack()
struct AHRSData_Packet_t
{
float RollSpeed; //unit: rad/s
float PitchSpeed; //unit: rad/s
float HeadingSpeed;//unit: rad/s
float Roll; //unit: rad
float Pitch; //unit: rad
float Heading; //unit: rad
float Qw;//w //Quaternion
float Qx;//x
float Qy;//y
float Qz;//z
int64_t Timestamp; //unit: us
};
#pragma pack(1)
struct INSGPSData_Packet_t
{
float BodyVelocity_X;
float BodyVelocity_Y;
float BodyVelocity_Z;
float BodyAcceleration_X;
float BodyAcceleration_Y;
float BodyAcceleration_Z;
float Location_North;
float Location_East;
float Location_Down;
float Velocity_North;
float Velocity_East;
float Velocity_Down;
float Acceleration_North;
float Acceleration_East;
float Acceleration_Down;
float Pressure_Altitude;
int64_t Timestamp;
};
#pragma pack()
#pragma pack(1)
struct Geodetic_Position_Packet_t
{
double Latitude;
double Longitude;
double Height;
float hAcc;
float vAcc;
};
#pragma pack()
//for IMU=========================
#pragma pack(1)
struct read_imu_struct{
fdilink_header header; //7
union data
{
IMUData_Packet_t data_pack; //56
uint8_t data_buff[56]; //56
}data;
uint8_t frame_end; //1
};
struct read_imu_tmp{
uint8_t frame_header[7];
uint8_t read_msg[57];
};
union imu_frame_read{
struct read_imu_struct frame;
read_imu_tmp read_buf;
uint8_t read_tmp[64];
};
#pragma pack()
//for IMU------------------------
//for AHRS=========================
#pragma pack(1)
struct read_ahrs_struct{
fdilink_header header; //7
union data
{
AHRSData_Packet_t data_pack; //48
uint8_t data_buff[48]; //48
}data;
uint8_t frame_end; //1
};
struct read_ahrs_tmp{
uint8_t frame_header[7];
uint8_t read_msg[49];
};
union ahrs_frame_read{
struct read_ahrs_struct frame;
read_ahrs_tmp read_buf;
uint8_t read_tmp[56];
};
#pragma pack()
//for AHRS------------------------
//for INSGPS=========================
#pragma pack(1)
struct read_insgps_struct{
fdilink_header header; //7
union data
{
INSGPSData_Packet_t data_pack; //72
uint8_t data_buff[72]; //72
}data;
uint8_t frame_end; //1
};
struct read_insgps_tmp{
uint8_t frame_header[7];
uint8_t read_msg[73];
};
union insgps_frame_read{
struct read_insgps_struct frame;
read_insgps_tmp read_buf;
uint8_t read_tmp[80];
};
#pragma pack()
//for INSGPS------------------------
//for Geodetic_Position=========================
#pragma pack(1)
struct read_Geodetic_Position_struct{
fdilink_header header; //7
union data
{
Geodetic_Position_Packet_t data_pack; //40
uint8_t data_buff[32]; //40
}data;
uint8_t frame_end; //1
};
struct read_Geodetic_Position_tmp{
uint8_t frame_header[7];
uint8_t read_msg[33];
};
union Geodetic_Position_frame_read{
struct read_Geodetic_Position_struct frame;
read_Geodetic_Position_tmp read_buf;
uint8_t read_tmp[40];
};
#pragma pack()
}//namespace FDILink
#endif//FDILINK_DATA_STRUCT_H_

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