docker-compose for ros

ros/build/.built_by

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+colcon

ros/build/my_package/build/lib/my_package/my_robot_driver.py

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+import rclpy
+from geometry_msgs.msg import Twist
+
+HALF_DISTANCE_BETWEEN_WHEELS = 0.045
+WHEEL_RADIUS = 0.025
+
+class MyRobotDriver:
+    def init(self, webots_node, properties):
+        self.__robot = webots_node.robot
+
+        self.__left_motor = self.__robot.getDevice('left wheel motor')
+        self.__right_motor = self.__robot.getDevice('right wheel motor')
+
+        self.__left_motor.setPosition(float('inf'))
+        self.__left_motor.setVelocity(0)
+
+        self.__right_motor.setPosition(float('inf'))
+        self.__right_motor.setVelocity(0)
+
+        self.__target_twist = Twist()
+
+        rclpy.init(args=None)
+        self.__node = rclpy.create_node('my_robot_driver')
+        self.__node.create_subscription(Twist, 'cmd_vel', self.__cmd_vel_callback, 1)
+
+    def __cmd_vel_callback(self, twist):
+        self.__target_twist = twist
+
+    def step(self):
+        rclpy.spin_once(self.__node, timeout_sec=0)
+
+        forward_speed = self.__target_twist.linear.x
+        angular_speed = self.__target_twist.angular.z
+
+        command_motor_left = (forward_speed - angular_speed * HALF_DISTANCE_BETWEEN_WHEELS) / WHEEL_RADIUS
+        command_motor_right = (forward_speed + angular_speed * HALF_DISTANCE_BETWEEN_WHEELS) / WHEEL_RADIUS
+
+        self.__left_motor.setVelocity(command_motor_left)
+        self.__right_motor.setVelocity(command_motor_right)

ros/build/my_package/colcon_build.rc

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+0

ros/build/my_package/colcon_command_prefix_setup_py.sh

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+# generated from colcon_core/shell/template/command_prefix.sh.em

ros/build/my_package/colcon_command_prefix_setup_py.sh.env

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+AMENT_PREFIX_PATH=/opt/ros/humble
+COLCON=1
+COLCON_PREFIX_PATH=/home/ksquared/humanoid/ros/my_package
+COLORTERM=truecolor
+DBUS_SESSION_BUS_ADDRESS=unix:path=/run/user/1000/bus
+DESKTOP_SESSION=ubuntu-wayland
+DISPLAY=:1
+FLYCTL_INSTALL=/home/ksquared/.fly
+GDMSESSION=ubuntu-wayland
+GNOME_DESKTOP_SESSION_ID=this-is-deprecated
+GNOME_SETUP_DISPLAY=:2
+GNOME_SHELL_SESSION_MODE=ubuntu
+GNOME_TERMINAL_SCREEN=/org/gnome/Terminal/screen/60edb008_b8c1_42ea_b45f_cda16035a0e8
+GNOME_TERMINAL_SERVICE=:1.178
+GTK_MODULES=gail:atk-bridge
+HOME=/home/ksquared
+LANG=en_US.UTF-8
+LD_LIBRARY_PATH=/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib
+LESS=-R
+LOGNAME=ksquared
+LSCOLORS=Gxfxcxdxbxegedabagacad
+LS_COLORS=rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.webp=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:
+NVM_BIN=/home/ksquared/.nvm/versions/node/v22.1.0/bin
+NVM_CD_FLAGS=-q
+NVM_DIR=/home/ksquared/.nvm
+NVM_INC=/home/ksquared/.nvm/versions/node/v22.1.0/include/node
+OLDPWD=/home/ksquared/humanoid/ros/my_package
+P9K_SSH=0
+P9K_TTY=old
+PAGER=less
+PATH=/opt/ros/humble/bin:/home/ksquared/.pyenv/plugins/pyenv-virtualenv/shims:/home/ksquared/.pyenv/shims:/home/ksquared/.pyenv/bin:/home/ksquared/.local/bin:/home/ksquared/.fly/bin:/home/ksquared/.nvm/versions/node/v22.1.0/bin:/home/ksquared/.cargo/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin
+PWD=/home/ksquared/humanoid/ros/build/my_package
+PYENV_ROOT=/home/ksquared/.pyenv
+PYENV_SHELL=zsh
+PYENV_VIRTUALENV_INIT=1
+PYTHONPATH=/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages
+QT_ACCESSIBILITY=1
+QT_IM_MODULE=ibus
+ROS_DISTRO=humble
+ROS_LOCALHOST_ONLY=0
+ROS_PYTHON_VERSION=3
+ROS_VERSION=2
+SESSION_MANAGER=local/ksquared:@/tmp/.ICE-unix/3142,unix/ksquared:/tmp/.ICE-unix/3142
+SHELL=/usr/bin/zsh
+SHLVL=1
+SSH_AGENT_LAUNCHER=gnome-keyring
+SSH_AUTH_SOCK=/run/user/1000/keyring/ssh
+SYSTEMD_EXEC_PID=26366
+TERM=xterm-256color
+USER=ksquared
+USERNAME=ksquared
+VTE_VERSION=6800
+WAYLAND_DISPLAY=wayland-0
+WEBOTS_HOME=/usr/local/webots
+XAUTHORITY=/run/user/1000/.mutter-Xwaylandauth.JGGFW2
+XDG_CACHE_HOME=/home/ksquared/.cache
+XDG_CONFIG_HOME=/home/ksquared/.config
+XDG_CURRENT_DESKTOP=ubuntu:GNOME
+XDG_DATA_DIRS=/home/ksquared/.local/share/flatpak/exports/share:/var/lib/flatpak/exports/share:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop
+XDG_DATA_HOME=/home/ksquared/.local/share
+XDG_MENU_PREFIX=gnome-
+XDG_RUNTIME_DIR=/run/user/1000
+XDG_SESSION_CLASS=user
+XDG_SESSION_DESKTOP=ubuntu-wayland
+XDG_SESSION_TYPE=wayland
+XDG_STATE_HOME=/home/ksquared/.local/state
+XMODIFIERS=@im=ibus
+ZSH=/home/ksquared/.oh-my-zsh
+_=/usr/bin/colcon
+_P9K_SSH_TTY=/dev/pts/5
+_P9K_TTY=/dev/pts/5

ros/build/my_package/install.log

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+/home/ksquared/humanoid/ros/install/my_package/lib/python3.10/site-packages/my_package/my_robot_driver.py
+/home/ksquared/humanoid/ros/install/my_package/lib/python3.10/site-packages/my_package/__init__.py
+/home/ksquared/humanoid/ros/install/my_package/lib/python3.10/site-packages/my_package/__pycache__/my_robot_driver.cpython-310.pyc
+/home/ksquared/humanoid/ros/install/my_package/lib/python3.10/site-packages/my_package/__pycache__/__init__.cpython-310.pyc
+/home/ksquared/humanoid/ros/install/my_package/share/ament_index/resource_index/packages/my_package
+/home/ksquared/humanoid/ros/install/my_package/share/my_package/launch/robot_launch.py
+/home/ksquared/humanoid/ros/install/my_package/share/my_package/worlds/my_world.wbt
+/home/ksquared/humanoid/ros/install/my_package/share/my_package/resource/my_robot.urdf
+/home/ksquared/humanoid/ros/install/my_package/share/my_package/package.xml
+/home/ksquared/humanoid/ros/install/my_package/lib/python3.10/site-packages/my_package-0.0.0-py3.10.egg-info/dependency_links.txt
+/home/ksquared/humanoid/ros/install/my_package/lib/python3.10/site-packages/my_package-0.0.0-py3.10.egg-info/SOURCES.txt
+/home/ksquared/humanoid/ros/install/my_package/lib/python3.10/site-packages/my_package-0.0.0-py3.10.egg-info/requires.txt
+/home/ksquared/humanoid/ros/install/my_package/lib/python3.10/site-packages/my_package-0.0.0-py3.10.egg-info/entry_points.txt
+/home/ksquared/humanoid/ros/install/my_package/lib/python3.10/site-packages/my_package-0.0.0-py3.10.egg-info/PKG-INFO
+/home/ksquared/humanoid/ros/install/my_package/lib/python3.10/site-packages/my_package-0.0.0-py3.10.egg-info/top_level.txt
+/home/ksquared/humanoid/ros/install/my_package/lib/python3.10/site-packages/my_package-0.0.0-py3.10.egg-info/zip-safe
+/home/ksquared/humanoid/ros/install/my_package/lib/my_package/my_robot_driver

ros/build/my_package/my_package.egg-info/PKG-INFO

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+Metadata-Version: 2.1
+Name: my_package
+Version: 0.0.0
+Summary: TODO: Package description
+Maintainer: user
+Maintainer-email: user.name@mail.com
+License: TODO: License declaration
+License-File: LICENSE
+Requires-Dist: setuptools

ros/build/my_package/my_package.egg-info/SOURCES.txt

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+LICENSE
+package.xml
+setup.cfg
+setup.py
+../build/my_package/my_package.egg-info/PKG-INFO
+../build/my_package/my_package.egg-info/SOURCES.txt
+../build/my_package/my_package.egg-info/dependency_links.txt
+../build/my_package/my_package.egg-info/entry_points.txt
+../build/my_package/my_package.egg-info/requires.txt
+../build/my_package/my_package.egg-info/top_level.txt
+../build/my_package/my_package.egg-info/zip-safe
+launch/robot_launch.py
+my_package/__init__.py
+my_package/my_robot_driver.py
+resource/my_package
+resource/my_robot.urdf
+test/test_copyright.py
+test/test_flake8.py
+test/test_pep257.py
+worlds/my_world.wbt

ros/build/my_package/my_package.egg-info/dependency_links.txt

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+

ros/build/my_package/my_package.egg-info/entry_points.txt

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+[console_scripts]
+my_robot_driver = my_package.my_robot_driver:main

ros/build/my_package/my_package.egg-info/requires.txt

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+setuptools

ros/build/my_package/my_package.egg-info/top_level.txt

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+my_package

ros/build/my_package/my_package.egg-info/zip-safe

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+

ros/build/my_package/prefix_override/sitecustomize.py

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+import sys
+if sys.prefix == '/usr':
+    sys.real_prefix = sys.prefix
+    sys.prefix = sys.exec_prefix = '/home/ksquared/humanoid/ros/install/my_package'

ros/install/.colcon_install_layout

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+isolated