opencv

gitignore

@@ -2,6 +2,8 @@
 # Gradle files
 .gradle/
 build/
+install/
+log/
 */build/
 log/
 # Local configuration file (sdk path, etc)

skylink_ros2_ws/build.sh

@@ -3,6 +3,10 @@
 # SkyLink ROS 2 机载端 - 快速编译脚本
 # 用法: ./build.sh [release|debug]
 
+#  加载git分支
+# 如果是python分支，则加载python相关依赖
+# 如果是cpp分支，则加载cpp相关依赖
+
 set -e
 
 SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
@@ -65,4 +69,6 @@ echo "   source $SCRIPT_DIR/install/setup.bash"
 echo ""
 echo "2. 启动节点:"
 echo "   ros2 launch skylink_bridge bridge.launch.py"
+echo "python 版本节点启动命令:"
+echo "   ros2 launch skylink_bridge_python bridge.launch.py"
 echo ""

skylink_ros2_ws/build/.built_by

@@ -0,0 +1 @@
+colcon

skylink_ros2_ws/build/skylink_bridge_python/colcon_build.rc

@@ -0,0 +1 @@
+0

skylink_ros2_ws/build/skylink_bridge_python/colcon_command_prefix_setup_py.sh

@@ -0,0 +1 @@
+# generated from colcon_core/shell/template/command_prefix.sh.em

skylink_ros2_ws/build/skylink_bridge_python/colcon_command_prefix_setup_py.sh.env

@@ -0,0 +1,59 @@
+AMENT_PREFIX_PATH=/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python:/opt/ros/humble
+BROWSER=/home/flower/.vscode-server/cli/servers/Stable-18e3a1ec544e6907be1e944a94c496e302073435/server/bin/helpers/browser.sh
+CMAKE_PREFIX_PATH=/home/flower/app/Qt/6.5.3/gcc_64:/opt/ros/humble/include
+COLCON=1
+COLCON_PREFIX_PATH=/home/flower/code/camera/flyLink/skylink_ros2_ws/install
+COLORTERM=truecolor
+DBUS_SESSION_BUS_ADDRESS=unix:path=/run/user/1000/bus
+GIT_ASKPASS=/home/flower/.vscode-server/cli/servers/Stable-18e3a1ec544e6907be1e944a94c496e302073435/server/extensions/git/dist/askpass.sh
+HOME=/home/flower
+LANG=zh_CN.UTF-8
+LANGUAGE=zh_CN:zh:en_US:en
+LC_ADDRESS=zh_CN.UTF-8
+LC_IDENTIFICATION=zh_CN.UTF-8
+LC_MEASUREMENT=zh_CN.UTF-8
+LC_MONETARY=zh_CN.UTF-8
+LC_NAME=zh_CN.UTF-8
+LC_NUMERIC=zh_CN.UTF-8
+LC_PAPER=zh_CN.UTF-8
+LC_TELEPHONE=zh_CN.UTF-8
+LC_TIME=zh_CN.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:/home/flower/app/Qt/6.5.3/gcc_64/lib
+LESSCLOSE=/usr/bin/lesspipe %s %s
+LESSOPEN=| /usr/bin/lesspipe %s
+LOGNAME=flower
+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:
+MOTD_SHOWN=pam
+NVM_BIN=/home/flower/app/NVM/.nvm/versions/node/v16.0.0/bin
+NVM_CD_FLAGS=
+NVM_DIR=/home/flower/app/NVM/.nvm
+NVM_INC=/home/flower/app/NVM/.nvm/versions/node/v16.0.0/include/node
+OLDPWD=/home/flower/code/camera/flyLink
+PATH=/home/flower/.vscode-server/cli/servers/Stable-18e3a1ec544e6907be1e944a94c496e302073435/server/bin/remote-cli:/opt/ros/humble/bin:/home/flower/app/NVM/.nvm/versions/node/v16.0.0/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/home/flower/.vscode-server/data/User/globalStorage/github.copilot-chat/debugCommand
+PWD=/home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python
+PYTHONPATH=/home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python:/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/lib/python3.10/site-packages:/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages
+ROS_DISTRO=humble
+ROS_LOCALHOST_ONLY=0
+ROS_PYTHON_VERSION=3
+ROS_VERSION=2
+SHELL=/bin/bash
+SHLVL=2
+SSH_CLIENT=192.168.31.107 52414 22
+SSH_CONNECTION=192.168.31.107 52414 192.168.31.21 22
+SSL_CERT_DIR=/usr/lib/ssl/certs
+SSL_CERT_FILE=/usr/lib/ssl/certs/ca-certificates.crt
+TERM=xterm-256color
+TERM_PROGRAM=vscode
+TERM_PROGRAM_VERSION=1.101.1
+USER=flower
+VSCODE_GIT_ASKPASS_EXTRA_ARGS=
+VSCODE_GIT_ASKPASS_MAIN=/home/flower/.vscode-server/cli/servers/Stable-18e3a1ec544e6907be1e944a94c496e302073435/server/extensions/git/dist/askpass-main.js
+VSCODE_GIT_ASKPASS_NODE=/home/flower/.vscode-server/cli/servers/Stable-18e3a1ec544e6907be1e944a94c496e302073435/server/node
+VSCODE_GIT_IPC_HANDLE=/run/user/1000/vscode-git-cb34e795ae.sock
+VSCODE_IPC_HOOK_CLI=/run/user/1000/vscode-ipc-9c363232-2bf9-4710-8997-fe36d048c317.sock
+XDG_DATA_DIRS=/usr/share/gnome:/usr/local/share:/usr/share:/var/lib/snapd/desktop
+XDG_RUNTIME_DIR=/run/user/1000
+XDG_SESSION_CLASS=user
+XDG_SESSION_ID=159
+XDG_SESSION_TYPE=tty
+_=/usr/bin/colcon

skylink_ros2_ws/build/skylink_bridge_python/config/params.yaml

@@ -0,0 +1 @@
+/home/flower/code/camera/flyLink/skylink_ros2_ws/src/skylink_bridge_python/config/params.yaml

skylink_ros2_ws/build/skylink_bridge_python/launch/bridge.launch.py

@@ -0,0 +1 @@
+/home/flower/code/camera/flyLink/skylink_ros2_ws/src/skylink_bridge_python/launch/bridge.launch.py

skylink_ros2_ws/build/skylink_bridge_python/package.xml

@@ -0,0 +1 @@
+/home/flower/code/camera/flyLink/skylink_ros2_ws/src/skylink_bridge_python/package.xml

skylink_ros2_ws/build/skylink_bridge_python/prefix_override/sitecustomize.py

@@ -0,0 +1,4 @@
+import sys
+if sys.prefix == '/usr':
+    sys.real_prefix = sys.prefix
+    sys.prefix = sys.exec_prefix = '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python'

skylink_ros2_ws/build/skylink_bridge_python/resource/skylink_bridge_python

@@ -0,0 +1 @@
+/home/flower/code/camera/flyLink/skylink_ros2_ws/src/skylink_bridge_python/resource/skylink_bridge_python

skylink_ros2_ws/build/skylink_bridge_python/setup.cfg

@@ -0,0 +1 @@
+/home/flower/code/camera/flyLink/skylink_ros2_ws/src/skylink_bridge_python/setup.cfg

skylink_ros2_ws/build/skylink_bridge_python/setup.py

@@ -0,0 +1 @@
+/home/flower/code/camera/flyLink/skylink_ros2_ws/src/skylink_bridge_python/setup.py

skylink_ros2_ws/build/skylink_bridge_python/share/skylink_bridge_python/hook/pythonpath_develop.dsv

@@ -0,0 +1 @@
+prepend-non-duplicate;PYTHONPATH;/home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python

skylink_ros2_ws/build/skylink_bridge_python/share/skylink_bridge_python/hook/pythonpath_develop.ps1

@@ -0,0 +1,3 @@
+# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
+
+colcon_prepend_unique_value PYTHONPATH "$env:COLCON_CURRENT_PREFIX\/home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python"

skylink_ros2_ws/build/skylink_bridge_python/share/skylink_bridge_python/hook/pythonpath_develop.sh

@@ -0,0 +1,3 @@
+# generated from colcon_core/shell/template/hook_prepend_value.sh.em
+
+_colcon_prepend_unique_value PYTHONPATH "/home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python"

skylink_ros2_ws/build/skylink_bridge_python/skylink_bridge_python

@@ -0,0 +1 @@
+/home/flower/code/camera/flyLink/skylink_ros2_ws/src/skylink_bridge_python/skylink_bridge_python

skylink_ros2_ws/build/skylink_bridge_python/skylink_bridge_python.egg-info/PKG-INFO

@@ -0,0 +1,13 @@
+Metadata-Version: 2.1
+Name: skylink-bridge-python
+Version: 0.0.0
+Summary: TODO: Package description
+Home-page: UNKNOWN
+Maintainer: flower
+Maintainer-email: 737666956@qq.com
+License: TODO: License declaration
+Platform: UNKNOWN
+Provides-Extra: test
+
+UNKNOWN
+

skylink_ros2_ws/build/skylink_bridge_python/skylink_bridge_python.egg-info/SOURCES.txt

@@ -0,0 +1,15 @@
+package.xml
+setup.cfg
+setup.py
+config/params.yaml
+launch/bridge.launch.py
+resource/skylink_bridge_python
+skylink_bridge_python/__init__.py
+skylink_bridge_python/camera_driver_node.py
+skylink_bridge_python.egg-info/PKG-INFO
+skylink_bridge_python.egg-info/SOURCES.txt
+skylink_bridge_python.egg-info/dependency_links.txt
+skylink_bridge_python.egg-info/entry_points.txt
+skylink_bridge_python.egg-info/requires.txt
+skylink_bridge_python.egg-info/top_level.txt
+skylink_bridge_python.egg-info/zip-safe

skylink_ros2_ws/build/skylink_bridge_python/skylink_bridge_python.egg-info/dependency_links.txt

@@ -0,0 +1 @@
+

skylink_ros2_ws/build/skylink_bridge_python/skylink_bridge_python.egg-info/entry_points.txt

@@ -0,0 +1,3 @@
+[console_scripts]
+camera_driver_node = skylink_bridge_python.camera_driver_node:main
+

skylink_ros2_ws/build/skylink_bridge_python/skylink_bridge_python.egg-info/requires.txt

@@ -0,0 +1,4 @@
+setuptools
+
+[test]
+pytest

skylink_ros2_ws/build/skylink_bridge_python/skylink_bridge_python.egg-info/top_level.txt

@@ -0,0 +1 @@
+skylink_bridge_python

skylink_ros2_ws/build/skylink_bridge_python/skylink_bridge_python.egg-info/zip-safe

@@ -0,0 +1 @@
+

skylink_ros2_ws/install/.colcon_install_layout

@@ -0,0 +1 @@
+isolated

skylink_ros2_ws/install/_local_setup_util_ps1.py

@@ -0,0 +1,407 @@
+# Copyright 2016-2019 Dirk Thomas
+# Licensed under the Apache License, Version 2.0
+
+import argparse
+from collections import OrderedDict
+import os
+from pathlib import Path
+import sys
+
+
+FORMAT_STR_COMMENT_LINE = '# {comment}'
+FORMAT_STR_SET_ENV_VAR = 'Set-Item -Path "Env:{name}" -Value "{value}"'
+FORMAT_STR_USE_ENV_VAR = '$env:{name}'
+FORMAT_STR_INVOKE_SCRIPT = '_colcon_prefix_powershell_source_script "{script_path}"'  # noqa: E501
+FORMAT_STR_REMOVE_LEADING_SEPARATOR = ''  # noqa: E501
+FORMAT_STR_REMOVE_TRAILING_SEPARATOR = ''  # noqa: E501
+
+DSV_TYPE_APPEND_NON_DUPLICATE = 'append-non-duplicate'
+DSV_TYPE_PREPEND_NON_DUPLICATE = 'prepend-non-duplicate'
+DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS = 'prepend-non-duplicate-if-exists'
+DSV_TYPE_SET = 'set'
+DSV_TYPE_SET_IF_UNSET = 'set-if-unset'
+DSV_TYPE_SOURCE = 'source'
+
+
+def main(argv=sys.argv[1:]):  # noqa: D103
+    parser = argparse.ArgumentParser(
+        description='Output shell commands for the packages in topological '
+                    'order')
+    parser.add_argument(
+        'primary_extension',
+        help='The file extension of the primary shell')
+    parser.add_argument(
+        'additional_extension', nargs='?',
+        help='The additional file extension to be considered')
+    parser.add_argument(
+        '--merged-install', action='store_true',
+        help='All install prefixes are merged into a single location')
+    args = parser.parse_args(argv)
+
+    packages = get_packages(Path(__file__).parent, args.merged_install)
+
+    ordered_packages = order_packages(packages)
+    for pkg_name in ordered_packages:
+        if _include_comments():
+            print(
+                FORMAT_STR_COMMENT_LINE.format_map(
+                    {'comment': 'Package: ' + pkg_name}))
+        prefix = os.path.abspath(os.path.dirname(__file__))
+        if not args.merged_install:
+            prefix = os.path.join(prefix, pkg_name)
+        for line in get_commands(
+            pkg_name, prefix, args.primary_extension,
+            args.additional_extension
+        ):
+            print(line)
+
+    for line in _remove_ending_separators():
+        print(line)
+
+
+def get_packages(prefix_path, merged_install):
+    """
+    Find packages based on colcon-specific files created during installation.
+
+    :param Path prefix_path: The install prefix path of all packages
+    :param bool merged_install: The flag if the packages are all installed
+      directly in the prefix or if each package is installed in a subdirectory
+      named after the package
+    :returns: A mapping from the package name to the set of runtime
+      dependencies
+    :rtype: dict
+    """
+    packages = {}
+    # since importing colcon_core isn't feasible here the following constant
+    # must match colcon_core.location.get_relative_package_index_path()
+    subdirectory = 'share/colcon-core/packages'
+    if merged_install:
+        # return if workspace is empty
+        if not (prefix_path / subdirectory).is_dir():
+            return packages
+        # find all files in the subdirectory
+        for p in (prefix_path / subdirectory).iterdir():
+            if not p.is_file():
+                continue
+            if p.name.startswith('.'):
+                continue
+            add_package_runtime_dependencies(p, packages)
+    else:
+        # for each subdirectory look for the package specific file
+        for p in prefix_path.iterdir():
+            if not p.is_dir():
+                continue
+            if p.name.startswith('.'):
+                continue
+            p = p / subdirectory / p.name
+            if p.is_file():
+                add_package_runtime_dependencies(p, packages)
+
+    # remove unknown dependencies
+    pkg_names = set(packages.keys())
+    for k in packages.keys():
+        packages[k] = {d for d in packages[k] if d in pkg_names}
+
+    return packages
+
+
+def add_package_runtime_dependencies(path, packages):
+    """
+    Check the path and if it exists extract the packages runtime dependencies.
+
+    :param Path path: The resource file containing the runtime dependencies
+    :param dict packages: A mapping from package names to the sets of runtime
+      dependencies to add to
+    """
+    content = path.read_text()
+    dependencies = set(content.split(os.pathsep) if content else [])
+    packages[path.name] = dependencies
+
+
+def order_packages(packages):
+    """
+    Order packages topologically.
+
+    :param dict packages: A mapping from package name to the set of runtime
+      dependencies
+    :returns: The package names
+    :rtype: list
+    """
+    # select packages with no dependencies in alphabetical order
+    to_be_ordered = list(packages.keys())
+    ordered = []
+    while to_be_ordered:
+        pkg_names_without_deps = [
+            name for name in to_be_ordered if not packages[name]]
+        if not pkg_names_without_deps:
+            reduce_cycle_set(packages)
+            raise RuntimeError(
+                'Circular dependency between: ' + ', '.join(sorted(packages)))
+        pkg_names_without_deps.sort()
+        pkg_name = pkg_names_without_deps[0]
+        to_be_ordered.remove(pkg_name)
+        ordered.append(pkg_name)
+        # remove item from dependency lists
+        for k in list(packages.keys()):
+            if pkg_name in packages[k]:
+                packages[k].remove(pkg_name)
+    return ordered
+
+
+def reduce_cycle_set(packages):
+    """
+    Reduce the set of packages to the ones part of the circular dependency.
+
+    :param dict packages: A mapping from package name to the set of runtime
+      dependencies which is modified in place
+    """
+    last_depended = None
+    while len(packages) > 0:
+        # get all remaining dependencies
+        depended = set()
+        for pkg_name, dependencies in packages.items():
+            depended = depended.union(dependencies)
+        # remove all packages which are not dependent on
+        for name in list(packages.keys()):
+            if name not in depended:
+                del packages[name]
+        if last_depended:
+            # if remaining packages haven't changed return them
+            if last_depended == depended:
+                return packages.keys()
+        # otherwise reduce again
+        last_depended = depended
+
+
+def _include_comments():
+    # skipping comment lines when COLCON_TRACE is not set speeds up the
+    # processing especially on Windows
+    return bool(os.environ.get('COLCON_TRACE'))
+
+
+def get_commands(pkg_name, prefix, primary_extension, additional_extension):
+    commands = []
+    package_dsv_path = os.path.join(prefix, 'share', pkg_name, 'package.dsv')
+    if os.path.exists(package_dsv_path):
+        commands += process_dsv_file(
+            package_dsv_path, prefix, primary_extension, additional_extension)
+    return commands
+
+
+def process_dsv_file(
+    dsv_path, prefix, primary_extension=None, additional_extension=None
+):
+    commands = []
+    if _include_comments():
+        commands.append(FORMAT_STR_COMMENT_LINE.format_map({'comment': dsv_path}))
+    with open(dsv_path, 'r') as h:
+        content = h.read()
+    lines = content.splitlines()
+
+    basenames = OrderedDict()
+    for i, line in enumerate(lines):
+        # skip over empty or whitespace-only lines
+        if not line.strip():
+            continue
+        # skip over comments
+        if line.startswith('#'):
+            continue
+        try:
+            type_, remainder = line.split(';', 1)
+        except ValueError:
+            raise RuntimeError(
+                "Line %d in '%s' doesn't contain a semicolon separating the "
+                'type from the arguments' % (i + 1, dsv_path))
+        if type_ != DSV_TYPE_SOURCE:
+            # handle non-source lines
+            try:
+                commands += handle_dsv_types_except_source(
+                    type_, remainder, prefix)
+            except RuntimeError as e:
+                raise RuntimeError(
+                    "Line %d in '%s' %s" % (i + 1, dsv_path, e)) from e
+        else:
+            # group remaining source lines by basename
+            path_without_ext, ext = os.path.splitext(remainder)
+            if path_without_ext not in basenames:
+                basenames[path_without_ext] = set()
+            assert ext.startswith('.')
+            ext = ext[1:]
+            if ext in (primary_extension, additional_extension):
+                basenames[path_without_ext].add(ext)
+
+    # add the dsv extension to each basename if the file exists
+    for basename, extensions in basenames.items():
+        if not os.path.isabs(basename):
+            basename = os.path.join(prefix, basename)
+        if os.path.exists(basename + '.dsv'):
+            extensions.add('dsv')
+
+    for basename, extensions in basenames.items():
+        if not os.path.isabs(basename):
+            basename = os.path.join(prefix, basename)
+        if 'dsv' in extensions:
+            # process dsv files recursively
+            commands += process_dsv_file(
+                basename + '.dsv', prefix, primary_extension=primary_extension,
+                additional_extension=additional_extension)
+        elif primary_extension in extensions and len(extensions) == 1:
+            # source primary-only files
+            commands += [
+                FORMAT_STR_INVOKE_SCRIPT.format_map({
+                    'prefix': prefix,
+                    'script_path': basename + '.' + primary_extension})]
+        elif additional_extension in extensions:
+            # source non-primary files
+            commands += [
+                FORMAT_STR_INVOKE_SCRIPT.format_map({
+                    'prefix': prefix,
+                    'script_path': basename + '.' + additional_extension})]
+
+    return commands
+
+
+def handle_dsv_types_except_source(type_, remainder, prefix):
+    commands = []
+    if type_ in (DSV_TYPE_SET, DSV_TYPE_SET_IF_UNSET):
+        try:
+            env_name, value = remainder.split(';', 1)
+        except ValueError:
+            raise RuntimeError(
+                "doesn't contain a semicolon separating the environment name "
+                'from the value')
+        try_prefixed_value = os.path.join(prefix, value) if value else prefix
+        if os.path.exists(try_prefixed_value):
+            value = try_prefixed_value
+        if type_ == DSV_TYPE_SET:
+            commands += _set(env_name, value)
+        elif type_ == DSV_TYPE_SET_IF_UNSET:
+            commands += _set_if_unset(env_name, value)
+        else:
+            assert False
+    elif type_ in (
+        DSV_TYPE_APPEND_NON_DUPLICATE,
+        DSV_TYPE_PREPEND_NON_DUPLICATE,
+        DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS
+    ):
+        try:
+            env_name_and_values = remainder.split(';')
+        except ValueError:
+            raise RuntimeError(
+                "doesn't contain a semicolon separating the environment name "
+                'from the values')
+        env_name = env_name_and_values[0]
+        values = env_name_and_values[1:]
+        for value in values:
+            if not value:
+                value = prefix
+            elif not os.path.isabs(value):
+                value = os.path.join(prefix, value)
+            if (
+                type_ == DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS and
+                not os.path.exists(value)
+            ):
+                comment = f'skip extending {env_name} with not existing ' \
+                    f'path: {value}'
+                if _include_comments():
+                    commands.append(
+                        FORMAT_STR_COMMENT_LINE.format_map({'comment': comment}))
+            elif type_ == DSV_TYPE_APPEND_NON_DUPLICATE:
+                commands += _append_unique_value(env_name, value)
+            else:
+                commands += _prepend_unique_value(env_name, value)
+    else:
+        raise RuntimeError(
+            'contains an unknown environment hook type: ' + type_)
+    return commands
+
+
+env_state = {}
+
+
+def _append_unique_value(name, value):
+    global env_state
+    if name not in env_state:
+        if os.environ.get(name):
+            env_state[name] = set(os.environ[name].split(os.pathsep))
+        else:
+            env_state[name] = set()
+    # append even if the variable has not been set yet, in case a shell script sets the
+    # same variable without the knowledge of this Python script.
+    # later _remove_ending_separators() will cleanup any unintentional leading separator
+    extend = FORMAT_STR_USE_ENV_VAR.format_map({'name': name}) + os.pathsep
+    line = FORMAT_STR_SET_ENV_VAR.format_map(
+        {'name': name, 'value': extend + value})
+    if value not in env_state[name]:
+        env_state[name].add(value)
+    else:
+        if not _include_comments():
+            return []
+        line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
+    return [line]
+
+
+def _prepend_unique_value(name, value):
+    global env_state
+    if name not in env_state:
+        if os.environ.get(name):
+            env_state[name] = set(os.environ[name].split(os.pathsep))
+        else:
+            env_state[name] = set()
+    # prepend even if the variable has not been set yet, in case a shell script sets the
+    # same variable without the knowledge of this Python script.
+    # later _remove_ending_separators() will cleanup any unintentional trailing separator
+    extend = os.pathsep + FORMAT_STR_USE_ENV_VAR.format_map({'name': name})
+    line = FORMAT_STR_SET_ENV_VAR.format_map(
+        {'name': name, 'value': value + extend})
+    if value not in env_state[name]:
+        env_state[name].add(value)
+    else:
+        if not _include_comments():
+            return []
+        line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
+    return [line]
+
+
+# generate commands for removing prepended underscores
+def _remove_ending_separators():
+    # do nothing if the shell extension does not implement the logic
+    if FORMAT_STR_REMOVE_TRAILING_SEPARATOR is None:
+        return []
+
+    global env_state
+    commands = []
+    for name in env_state:
+        # skip variables that already had values before this script started prepending
+        if name in os.environ:
+            continue
+        commands += [
+            FORMAT_STR_REMOVE_LEADING_SEPARATOR.format_map({'name': name}),
+            FORMAT_STR_REMOVE_TRAILING_SEPARATOR.format_map({'name': name})]
+    return commands
+
+
+def _set(name, value):
+    global env_state
+    env_state[name] = value
+    line = FORMAT_STR_SET_ENV_VAR.format_map(
+        {'name': name, 'value': value})
+    return [line]
+
+
+def _set_if_unset(name, value):
+    global env_state
+    line = FORMAT_STR_SET_ENV_VAR.format_map(
+        {'name': name, 'value': value})
+    if env_state.get(name, os.environ.get(name)):
+        line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
+    return [line]
+
+
+if __name__ == '__main__':  # pragma: no cover
+    try:
+        rc = main()
+    except RuntimeError as e:
+        print(str(e), file=sys.stderr)
+        rc = 1
+    sys.exit(rc)

skylink_ros2_ws/install/_local_setup_util_sh.py

@@ -0,0 +1,407 @@
+# Copyright 2016-2019 Dirk Thomas
+# Licensed under the Apache License, Version 2.0
+
+import argparse
+from collections import OrderedDict
+import os
+from pathlib import Path
+import sys
+
+
+FORMAT_STR_COMMENT_LINE = '# {comment}'
+FORMAT_STR_SET_ENV_VAR = 'export {name}="{value}"'
+FORMAT_STR_USE_ENV_VAR = '${name}'
+FORMAT_STR_INVOKE_SCRIPT = 'COLCON_CURRENT_PREFIX="{prefix}" _colcon_prefix_sh_source_script "{script_path}"'  # noqa: E501
+FORMAT_STR_REMOVE_LEADING_SEPARATOR = 'if [ "$(echo -n ${name} | head -c 1)" = ":" ]; then export {name}=${{{name}#?}} ; fi'  # noqa: E501
+FORMAT_STR_REMOVE_TRAILING_SEPARATOR = 'if [ "$(echo -n ${name} | tail -c 1)" = ":" ]; then export {name}=${{{name}%?}} ; fi'  # noqa: E501
+
+DSV_TYPE_APPEND_NON_DUPLICATE = 'append-non-duplicate'
+DSV_TYPE_PREPEND_NON_DUPLICATE = 'prepend-non-duplicate'
+DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS = 'prepend-non-duplicate-if-exists'
+DSV_TYPE_SET = 'set'
+DSV_TYPE_SET_IF_UNSET = 'set-if-unset'
+DSV_TYPE_SOURCE = 'source'
+
+
+def main(argv=sys.argv[1:]):  # noqa: D103
+    parser = argparse.ArgumentParser(
+        description='Output shell commands for the packages in topological '
+                    'order')
+    parser.add_argument(
+        'primary_extension',
+        help='The file extension of the primary shell')
+    parser.add_argument(
+        'additional_extension', nargs='?',
+        help='The additional file extension to be considered')
+    parser.add_argument(
+        '--merged-install', action='store_true',
+        help='All install prefixes are merged into a single location')
+    args = parser.parse_args(argv)
+
+    packages = get_packages(Path(__file__).parent, args.merged_install)
+
+    ordered_packages = order_packages(packages)
+    for pkg_name in ordered_packages:
+        if _include_comments():
+            print(
+                FORMAT_STR_COMMENT_LINE.format_map(
+                    {'comment': 'Package: ' + pkg_name}))
+        prefix = os.path.abspath(os.path.dirname(__file__))
+        if not args.merged_install:
+            prefix = os.path.join(prefix, pkg_name)
+        for line in get_commands(
+            pkg_name, prefix, args.primary_extension,
+            args.additional_extension
+        ):
+            print(line)
+
+    for line in _remove_ending_separators():
+        print(line)
+
+
+def get_packages(prefix_path, merged_install):
+    """
+    Find packages based on colcon-specific files created during installation.
+
+    :param Path prefix_path: The install prefix path of all packages
+    :param bool merged_install: The flag if the packages are all installed
+      directly in the prefix or if each package is installed in a subdirectory
+      named after the package
+    :returns: A mapping from the package name to the set of runtime
+      dependencies
+    :rtype: dict
+    """
+    packages = {}
+    # since importing colcon_core isn't feasible here the following constant
+    # must match colcon_core.location.get_relative_package_index_path()
+    subdirectory = 'share/colcon-core/packages'
+    if merged_install:
+        # return if workspace is empty
+        if not (prefix_path / subdirectory).is_dir():
+            return packages
+        # find all files in the subdirectory
+        for p in (prefix_path / subdirectory).iterdir():
+            if not p.is_file():
+                continue
+            if p.name.startswith('.'):
+                continue
+            add_package_runtime_dependencies(p, packages)
+    else:
+        # for each subdirectory look for the package specific file
+        for p in prefix_path.iterdir():
+            if not p.is_dir():
+                continue
+            if p.name.startswith('.'):
+                continue
+            p = p / subdirectory / p.name
+            if p.is_file():
+                add_package_runtime_dependencies(p, packages)
+
+    # remove unknown dependencies
+    pkg_names = set(packages.keys())
+    for k in packages.keys():
+        packages[k] = {d for d in packages[k] if d in pkg_names}
+
+    return packages
+
+
+def add_package_runtime_dependencies(path, packages):
+    """
+    Check the path and if it exists extract the packages runtime dependencies.
+
+    :param Path path: The resource file containing the runtime dependencies
+    :param dict packages: A mapping from package names to the sets of runtime
+      dependencies to add to
+    """
+    content = path.read_text()
+    dependencies = set(content.split(os.pathsep) if content else [])
+    packages[path.name] = dependencies
+
+
+def order_packages(packages):
+    """
+    Order packages topologically.
+
+    :param dict packages: A mapping from package name to the set of runtime
+      dependencies
+    :returns: The package names
+    :rtype: list
+    """
+    # select packages with no dependencies in alphabetical order
+    to_be_ordered = list(packages.keys())
+    ordered = []
+    while to_be_ordered:
+        pkg_names_without_deps = [
+            name for name in to_be_ordered if not packages[name]]
+        if not pkg_names_without_deps:
+            reduce_cycle_set(packages)
+            raise RuntimeError(
+                'Circular dependency between: ' + ', '.join(sorted(packages)))
+        pkg_names_without_deps.sort()
+        pkg_name = pkg_names_without_deps[0]
+        to_be_ordered.remove(pkg_name)
+        ordered.append(pkg_name)
+        # remove item from dependency lists
+        for k in list(packages.keys()):
+            if pkg_name in packages[k]:
+                packages[k].remove(pkg_name)
+    return ordered
+
+
+def reduce_cycle_set(packages):
+    """
+    Reduce the set of packages to the ones part of the circular dependency.
+
+    :param dict packages: A mapping from package name to the set of runtime
+      dependencies which is modified in place
+    """
+    last_depended = None
+    while len(packages) > 0:
+        # get all remaining dependencies
+        depended = set()
+        for pkg_name, dependencies in packages.items():
+            depended = depended.union(dependencies)
+        # remove all packages which are not dependent on
+        for name in list(packages.keys()):
+            if name not in depended:
+                del packages[name]
+        if last_depended:
+            # if remaining packages haven't changed return them
+            if last_depended == depended:
+                return packages.keys()
+        # otherwise reduce again
+        last_depended = depended
+
+
+def _include_comments():
+    # skipping comment lines when COLCON_TRACE is not set speeds up the
+    # processing especially on Windows
+    return bool(os.environ.get('COLCON_TRACE'))
+
+
+def get_commands(pkg_name, prefix, primary_extension, additional_extension):
+    commands = []
+    package_dsv_path = os.path.join(prefix, 'share', pkg_name, 'package.dsv')
+    if os.path.exists(package_dsv_path):
+        commands += process_dsv_file(
+            package_dsv_path, prefix, primary_extension, additional_extension)
+    return commands
+
+
+def process_dsv_file(
+    dsv_path, prefix, primary_extension=None, additional_extension=None
+):
+    commands = []
+    if _include_comments():
+        commands.append(FORMAT_STR_COMMENT_LINE.format_map({'comment': dsv_path}))
+    with open(dsv_path, 'r') as h:
+        content = h.read()
+    lines = content.splitlines()
+
+    basenames = OrderedDict()
+    for i, line in enumerate(lines):
+        # skip over empty or whitespace-only lines
+        if not line.strip():
+            continue
+        # skip over comments
+        if line.startswith('#'):
+            continue
+        try:
+            type_, remainder = line.split(';', 1)
+        except ValueError:
+            raise RuntimeError(
+                "Line %d in '%s' doesn't contain a semicolon separating the "
+                'type from the arguments' % (i + 1, dsv_path))
+        if type_ != DSV_TYPE_SOURCE:
+            # handle non-source lines
+            try:
+                commands += handle_dsv_types_except_source(
+                    type_, remainder, prefix)
+            except RuntimeError as e:
+                raise RuntimeError(
+                    "Line %d in '%s' %s" % (i + 1, dsv_path, e)) from e
+        else:
+            # group remaining source lines by basename
+            path_without_ext, ext = os.path.splitext(remainder)
+            if path_without_ext not in basenames:
+                basenames[path_without_ext] = set()
+            assert ext.startswith('.')
+            ext = ext[1:]
+            if ext in (primary_extension, additional_extension):
+                basenames[path_without_ext].add(ext)
+
+    # add the dsv extension to each basename if the file exists
+    for basename, extensions in basenames.items():
+        if not os.path.isabs(basename):
+            basename = os.path.join(prefix, basename)
+        if os.path.exists(basename + '.dsv'):
+            extensions.add('dsv')
+
+    for basename, extensions in basenames.items():
+        if not os.path.isabs(basename):
+            basename = os.path.join(prefix, basename)
+        if 'dsv' in extensions:
+            # process dsv files recursively
+            commands += process_dsv_file(
+                basename + '.dsv', prefix, primary_extension=primary_extension,
+                additional_extension=additional_extension)
+        elif primary_extension in extensions and len(extensions) == 1:
+            # source primary-only files
+            commands += [
+                FORMAT_STR_INVOKE_SCRIPT.format_map({
+                    'prefix': prefix,
+                    'script_path': basename + '.' + primary_extension})]
+        elif additional_extension in extensions:
+            # source non-primary files
+            commands += [
+                FORMAT_STR_INVOKE_SCRIPT.format_map({
+                    'prefix': prefix,
+                    'script_path': basename + '.' + additional_extension})]
+
+    return commands
+
+
+def handle_dsv_types_except_source(type_, remainder, prefix):
+    commands = []
+    if type_ in (DSV_TYPE_SET, DSV_TYPE_SET_IF_UNSET):
+        try:
+            env_name, value = remainder.split(';', 1)
+        except ValueError:
+            raise RuntimeError(
+                "doesn't contain a semicolon separating the environment name "
+                'from the value')
+        try_prefixed_value = os.path.join(prefix, value) if value else prefix
+        if os.path.exists(try_prefixed_value):
+            value = try_prefixed_value
+        if type_ == DSV_TYPE_SET:
+            commands += _set(env_name, value)
+        elif type_ == DSV_TYPE_SET_IF_UNSET:
+            commands += _set_if_unset(env_name, value)
+        else:
+            assert False
+    elif type_ in (
+        DSV_TYPE_APPEND_NON_DUPLICATE,
+        DSV_TYPE_PREPEND_NON_DUPLICATE,
+        DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS
+    ):
+        try:
+            env_name_and_values = remainder.split(';')
+        except ValueError:
+            raise RuntimeError(
+                "doesn't contain a semicolon separating the environment name "
+                'from the values')
+        env_name = env_name_and_values[0]
+        values = env_name_and_values[1:]
+        for value in values:
+            if not value:
+                value = prefix
+            elif not os.path.isabs(value):
+                value = os.path.join(prefix, value)
+            if (
+                type_ == DSV_TYPE_PREPEND_NON_DUPLICATE_IF_EXISTS and
+                not os.path.exists(value)
+            ):
+                comment = f'skip extending {env_name} with not existing ' \
+                    f'path: {value}'
+                if _include_comments():
+                    commands.append(
+                        FORMAT_STR_COMMENT_LINE.format_map({'comment': comment}))
+            elif type_ == DSV_TYPE_APPEND_NON_DUPLICATE:
+                commands += _append_unique_value(env_name, value)
+            else:
+                commands += _prepend_unique_value(env_name, value)
+    else:
+        raise RuntimeError(
+            'contains an unknown environment hook type: ' + type_)
+    return commands
+
+
+env_state = {}
+
+
+def _append_unique_value(name, value):
+    global env_state
+    if name not in env_state:
+        if os.environ.get(name):
+            env_state[name] = set(os.environ[name].split(os.pathsep))
+        else:
+            env_state[name] = set()
+    # append even if the variable has not been set yet, in case a shell script sets the
+    # same variable without the knowledge of this Python script.
+    # later _remove_ending_separators() will cleanup any unintentional leading separator
+    extend = FORMAT_STR_USE_ENV_VAR.format_map({'name': name}) + os.pathsep
+    line = FORMAT_STR_SET_ENV_VAR.format_map(
+        {'name': name, 'value': extend + value})
+    if value not in env_state[name]:
+        env_state[name].add(value)
+    else:
+        if not _include_comments():
+            return []
+        line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
+    return [line]
+
+
+def _prepend_unique_value(name, value):
+    global env_state
+    if name not in env_state:
+        if os.environ.get(name):
+            env_state[name] = set(os.environ[name].split(os.pathsep))
+        else:
+            env_state[name] = set()
+    # prepend even if the variable has not been set yet, in case a shell script sets the
+    # same variable without the knowledge of this Python script.
+    # later _remove_ending_separators() will cleanup any unintentional trailing separator
+    extend = os.pathsep + FORMAT_STR_USE_ENV_VAR.format_map({'name': name})
+    line = FORMAT_STR_SET_ENV_VAR.format_map(
+        {'name': name, 'value': value + extend})
+    if value not in env_state[name]:
+        env_state[name].add(value)
+    else:
+        if not _include_comments():
+            return []
+        line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
+    return [line]
+
+
+# generate commands for removing prepended underscores
+def _remove_ending_separators():
+    # do nothing if the shell extension does not implement the logic
+    if FORMAT_STR_REMOVE_TRAILING_SEPARATOR is None:
+        return []
+
+    global env_state
+    commands = []
+    for name in env_state:
+        # skip variables that already had values before this script started prepending
+        if name in os.environ:
+            continue
+        commands += [
+            FORMAT_STR_REMOVE_LEADING_SEPARATOR.format_map({'name': name}),
+            FORMAT_STR_REMOVE_TRAILING_SEPARATOR.format_map({'name': name})]
+    return commands
+
+
+def _set(name, value):
+    global env_state
+    env_state[name] = value
+    line = FORMAT_STR_SET_ENV_VAR.format_map(
+        {'name': name, 'value': value})
+    return [line]
+
+
+def _set_if_unset(name, value):
+    global env_state
+    line = FORMAT_STR_SET_ENV_VAR.format_map(
+        {'name': name, 'value': value})
+    if env_state.get(name, os.environ.get(name)):
+        line = FORMAT_STR_COMMENT_LINE.format_map({'comment': line})
+    return [line]
+
+
+if __name__ == '__main__':  # pragma: no cover
+    try:
+        rc = main()
+    except RuntimeError as e:
+        print(str(e), file=sys.stderr)
+        rc = 1
+    sys.exit(rc)

skylink_ros2_ws/install/local_setup.bash

@@ -0,0 +1,121 @@
+# generated from colcon_bash/shell/template/prefix.bash.em
+
+# This script extends the environment with all packages contained in this
+# prefix path.
+
+# a bash script is able to determine its own path if necessary
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+  _colcon_prefix_bash_COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)"
+else
+  _colcon_prefix_bash_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+_colcon_prefix_bash_prepend_unique_value() {
+  # arguments
+  _listname="$1"
+  _value="$2"
+
+  # get values from variable
+  eval _values=\"\$$_listname\"
+  # backup the field separator
+  _colcon_prefix_bash_prepend_unique_value_IFS="$IFS"
+  IFS=":"
+  # start with the new value
+  _all_values="$_value"
+  _contained_value=""
+  # iterate over existing values in the variable
+  for _item in $_values; do
+    # ignore empty strings
+    if [ -z "$_item" ]; then
+      continue
+    fi
+    # ignore duplicates of _value
+    if [ "$_item" = "$_value" ]; then
+      _contained_value=1
+      continue
+    fi
+    # keep non-duplicate values
+    _all_values="$_all_values:$_item"
+  done
+  unset _item
+  if [ -z "$_contained_value" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      if [ "$_all_values" = "$_value" ]; then
+        echo "export $_listname=$_value"
+      else
+        echo "export $_listname=$_value:\$$_listname"
+      fi
+    fi
+  fi
+  unset _contained_value
+  # restore the field separator
+  IFS="$_colcon_prefix_bash_prepend_unique_value_IFS"
+  unset _colcon_prefix_bash_prepend_unique_value_IFS
+  # export the updated variable
+  eval export $_listname=\"$_all_values\"
+  unset _all_values
+  unset _values
+
+  unset _value
+  unset _listname
+}
+
+# add this prefix to the COLCON_PREFIX_PATH
+_colcon_prefix_bash_prepend_unique_value COLCON_PREFIX_PATH "$_colcon_prefix_bash_COLCON_CURRENT_PREFIX"
+unset _colcon_prefix_bash_prepend_unique_value
+
+# check environment variable for custom Python executable
+if [ -n "$COLCON_PYTHON_EXECUTABLE" ]; then
+  if [ ! -f "$COLCON_PYTHON_EXECUTABLE" ]; then
+    echo "error: COLCON_PYTHON_EXECUTABLE '$COLCON_PYTHON_EXECUTABLE' doesn't exist"
+    return 1
+  fi
+  _colcon_python_executable="$COLCON_PYTHON_EXECUTABLE"
+else
+  # try the Python executable known at configure time
+  _colcon_python_executable="/usr/bin/python3"
+  # if it doesn't exist try a fall back
+  if [ ! -f "$_colcon_python_executable" ]; then
+    if ! /usr/bin/env python3 --version > /dev/null 2> /dev/null; then
+      echo "error: unable to find python3 executable"
+      return 1
+    fi
+    _colcon_python_executable=`/usr/bin/env python3 -c "import sys; print(sys.executable)"`
+  fi
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+_colcon_prefix_sh_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$1"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# get all commands in topological order
+_colcon_ordered_commands="$($_colcon_python_executable "$_colcon_prefix_bash_COLCON_CURRENT_PREFIX/_local_setup_util_sh.py" sh bash)"
+unset _colcon_python_executable
+if [ -n "$COLCON_TRACE" ]; then
+  echo "$(declare -f _colcon_prefix_sh_source_script)"
+  echo "# Execute generated script:"
+  echo "# <<<"
+  echo "${_colcon_ordered_commands}"
+  echo "# >>>"
+  echo "unset _colcon_prefix_sh_source_script"
+fi
+eval "${_colcon_ordered_commands}"
+unset _colcon_ordered_commands
+
+unset _colcon_prefix_sh_source_script
+
+unset _colcon_prefix_bash_COLCON_CURRENT_PREFIX

skylink_ros2_ws/install/local_setup.ps1

@@ -0,0 +1,55 @@
+# generated from colcon_powershell/shell/template/prefix.ps1.em
+
+# This script extends the environment with all packages contained in this
+# prefix path.
+
+# check environment variable for custom Python executable
+if ($env:COLCON_PYTHON_EXECUTABLE) {
+  if (!(Test-Path "$env:COLCON_PYTHON_EXECUTABLE" -PathType Leaf)) {
+    echo "error: COLCON_PYTHON_EXECUTABLE '$env:COLCON_PYTHON_EXECUTABLE' doesn't exist"
+    exit 1
+  }
+  $_colcon_python_executable="$env:COLCON_PYTHON_EXECUTABLE"
+} else {
+  # use the Python executable known at configure time
+  $_colcon_python_executable="/usr/bin/python3"
+  # if it doesn't exist try a fall back
+  if (!(Test-Path "$_colcon_python_executable" -PathType Leaf)) {
+    if (!(Get-Command "python3" -ErrorAction SilentlyContinue)) {
+      echo "error: unable to find python3 executable"
+      exit 1
+    }
+    $_colcon_python_executable="python3"
+  }
+}
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+function _colcon_prefix_powershell_source_script {
+  param (
+    $_colcon_prefix_powershell_source_script_param
+  )
+  # source script with conditional trace output
+  if (Test-Path $_colcon_prefix_powershell_source_script_param) {
+    if ($env:COLCON_TRACE) {
+      echo ". '$_colcon_prefix_powershell_source_script_param'"
+    }
+    . "$_colcon_prefix_powershell_source_script_param"
+  } else {
+    Write-Error "not found: '$_colcon_prefix_powershell_source_script_param'"
+  }
+}
+
+# get all commands in topological order
+$_colcon_ordered_commands = & "$_colcon_python_executable" "$(Split-Path $PSCommandPath -Parent)/_local_setup_util_ps1.py" ps1
+
+# execute all commands in topological order
+if ($env:COLCON_TRACE) {
+  echo "Execute generated script:"
+  echo "<<<"
+  $_colcon_ordered_commands.Split([Environment]::NewLine, [StringSplitOptions]::RemoveEmptyEntries) | Write-Output
+  echo ">>>"
+}
+if ($_colcon_ordered_commands) {
+  $_colcon_ordered_commands.Split([Environment]::NewLine, [StringSplitOptions]::RemoveEmptyEntries) | Invoke-Expression
+}

skylink_ros2_ws/install/local_setup.sh

@@ -0,0 +1,137 @@
+# generated from colcon_core/shell/template/prefix.sh.em
+
+# This script extends the environment with all packages contained in this
+# prefix path.
+
+# since a plain shell script can't determine its own path when being sourced
+# either use the provided COLCON_CURRENT_PREFIX
+# or fall back to the build time prefix (if it exists)
+_colcon_prefix_sh_COLCON_CURRENT_PREFIX="/home/flower/code/camera/flyLink/skylink_ros2_ws/install"
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+  if [ ! -d "$_colcon_prefix_sh_COLCON_CURRENT_PREFIX" ]; then
+    echo "The build time path \"$_colcon_prefix_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2
+    unset _colcon_prefix_sh_COLCON_CURRENT_PREFIX
+    return 1
+  fi
+else
+  _colcon_prefix_sh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+_colcon_prefix_sh_prepend_unique_value() {
+  # arguments
+  _listname="$1"
+  _value="$2"
+
+  # get values from variable
+  eval _values=\"\$$_listname\"
+  # backup the field separator
+  _colcon_prefix_sh_prepend_unique_value_IFS="$IFS"
+  IFS=":"
+  # start with the new value
+  _all_values="$_value"
+  _contained_value=""
+  # iterate over existing values in the variable
+  for _item in $_values; do
+    # ignore empty strings
+    if [ -z "$_item" ]; then
+      continue
+    fi
+    # ignore duplicates of _value
+    if [ "$_item" = "$_value" ]; then
+      _contained_value=1
+      continue
+    fi
+    # keep non-duplicate values
+    _all_values="$_all_values:$_item"
+  done
+  unset _item
+  if [ -z "$_contained_value" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      if [ "$_all_values" = "$_value" ]; then
+        echo "export $_listname=$_value"
+      else
+        echo "export $_listname=$_value:\$$_listname"
+      fi
+    fi
+  fi
+  unset _contained_value
+  # restore the field separator
+  IFS="$_colcon_prefix_sh_prepend_unique_value_IFS"
+  unset _colcon_prefix_sh_prepend_unique_value_IFS
+  # export the updated variable
+  eval export $_listname=\"$_all_values\"
+  unset _all_values
+  unset _values
+
+  unset _value
+  unset _listname
+}
+
+# add this prefix to the COLCON_PREFIX_PATH
+_colcon_prefix_sh_prepend_unique_value COLCON_PREFIX_PATH "$_colcon_prefix_sh_COLCON_CURRENT_PREFIX"
+unset _colcon_prefix_sh_prepend_unique_value
+
+# check environment variable for custom Python executable
+if [ -n "$COLCON_PYTHON_EXECUTABLE" ]; then
+  if [ ! -f "$COLCON_PYTHON_EXECUTABLE" ]; then
+    echo "error: COLCON_PYTHON_EXECUTABLE '$COLCON_PYTHON_EXECUTABLE' doesn't exist"
+    return 1
+  fi
+  _colcon_python_executable="$COLCON_PYTHON_EXECUTABLE"
+else
+  # try the Python executable known at configure time
+  _colcon_python_executable="/usr/bin/python3"
+  # if it doesn't exist try a fall back
+  if [ ! -f "$_colcon_python_executable" ]; then
+    if ! /usr/bin/env python3 --version > /dev/null 2> /dev/null; then
+      echo "error: unable to find python3 executable"
+      return 1
+    fi
+    _colcon_python_executable=`/usr/bin/env python3 -c "import sys; print(sys.executable)"`
+  fi
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+_colcon_prefix_sh_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$1"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# get all commands in topological order
+_colcon_ordered_commands="$($_colcon_python_executable "$_colcon_prefix_sh_COLCON_CURRENT_PREFIX/_local_setup_util_sh.py" sh)"
+unset _colcon_python_executable
+if [ -n "$COLCON_TRACE" ]; then
+  echo "_colcon_prefix_sh_source_script() {
+    if [ -f \"\$1\" ]; then
+      if [ -n \"\$COLCON_TRACE\" ]; then
+        echo \"# . \\\"\$1\\\"\"
+      fi
+      . \"\$1\"
+    else
+      echo \"not found: \\\"\$1\\\"\" 1>&2
+    fi
+  }"
+  echo "# Execute generated script:"
+  echo "# <<<"
+  echo "${_colcon_ordered_commands}"
+  echo "# >>>"
+  echo "unset _colcon_prefix_sh_source_script"
+fi
+eval "${_colcon_ordered_commands}"
+unset _colcon_ordered_commands
+
+unset _colcon_prefix_sh_source_script
+
+unset _colcon_prefix_sh_COLCON_CURRENT_PREFIX

skylink_ros2_ws/install/local_setup.zsh

@@ -0,0 +1,134 @@
+# generated from colcon_zsh/shell/template/prefix.zsh.em
+
+# This script extends the environment with all packages contained in this
+# prefix path.
+
+# a zsh script is able to determine its own path if necessary
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+  _colcon_prefix_zsh_COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd)"
+else
+  _colcon_prefix_zsh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to convert array-like strings into arrays
+# to workaround SH_WORD_SPLIT not being set
+_colcon_prefix_zsh_convert_to_array() {
+  local _listname=$1
+  local _dollar="$"
+  local _split="{="
+  local _to_array="(\"$_dollar$_split$_listname}\")"
+  eval $_listname=$_to_array
+}
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+_colcon_prefix_zsh_prepend_unique_value() {
+  # arguments
+  _listname="$1"
+  _value="$2"
+
+  # get values from variable
+  eval _values=\"\$$_listname\"
+  # backup the field separator
+  _colcon_prefix_zsh_prepend_unique_value_IFS="$IFS"
+  IFS=":"
+  # start with the new value
+  _all_values="$_value"
+  _contained_value=""
+  # workaround SH_WORD_SPLIT not being set
+  _colcon_prefix_zsh_convert_to_array _values
+  # iterate over existing values in the variable
+  for _item in $_values; do
+    # ignore empty strings
+    if [ -z "$_item" ]; then
+      continue
+    fi
+    # ignore duplicates of _value
+    if [ "$_item" = "$_value" ]; then
+      _contained_value=1
+      continue
+    fi
+    # keep non-duplicate values
+    _all_values="$_all_values:$_item"
+  done
+  unset _item
+  if [ -z "$_contained_value" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      if [ "$_all_values" = "$_value" ]; then
+        echo "export $_listname=$_value"
+      else
+        echo "export $_listname=$_value:\$$_listname"
+      fi
+    fi
+  fi
+  unset _contained_value
+  # restore the field separator
+  IFS="$_colcon_prefix_zsh_prepend_unique_value_IFS"
+  unset _colcon_prefix_zsh_prepend_unique_value_IFS
+  # export the updated variable
+  eval export $_listname=\"$_all_values\"
+  unset _all_values
+  unset _values
+
+  unset _value
+  unset _listname
+}
+
+# add this prefix to the COLCON_PREFIX_PATH
+_colcon_prefix_zsh_prepend_unique_value COLCON_PREFIX_PATH "$_colcon_prefix_zsh_COLCON_CURRENT_PREFIX"
+unset _colcon_prefix_zsh_prepend_unique_value
+unset _colcon_prefix_zsh_convert_to_array
+
+# check environment variable for custom Python executable
+if [ -n "$COLCON_PYTHON_EXECUTABLE" ]; then
+  if [ ! -f "$COLCON_PYTHON_EXECUTABLE" ]; then
+    echo "error: COLCON_PYTHON_EXECUTABLE '$COLCON_PYTHON_EXECUTABLE' doesn't exist"
+    return 1
+  fi
+  _colcon_python_executable="$COLCON_PYTHON_EXECUTABLE"
+else
+  # try the Python executable known at configure time
+  _colcon_python_executable="/usr/bin/python3"
+  # if it doesn't exist try a fall back
+  if [ ! -f "$_colcon_python_executable" ]; then
+    if ! /usr/bin/env python3 --version > /dev/null 2> /dev/null; then
+      echo "error: unable to find python3 executable"
+      return 1
+    fi
+    _colcon_python_executable=`/usr/bin/env python3 -c "import sys; print(sys.executable)"`
+  fi
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+_colcon_prefix_sh_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$1"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# get all commands in topological order
+_colcon_ordered_commands="$($_colcon_python_executable "$_colcon_prefix_zsh_COLCON_CURRENT_PREFIX/_local_setup_util_sh.py" sh zsh)"
+unset _colcon_python_executable
+if [ -n "$COLCON_TRACE" ]; then
+  echo "$(declare -f _colcon_prefix_sh_source_script)"
+  echo "# Execute generated script:"
+  echo "# <<<"
+  echo "${_colcon_ordered_commands}"
+  echo "# >>>"
+  echo "unset _colcon_prefix_sh_source_script"
+fi
+eval "${_colcon_ordered_commands}"
+unset _colcon_ordered_commands
+
+unset _colcon_prefix_sh_source_script
+
+unset _colcon_prefix_zsh_COLCON_CURRENT_PREFIX

skylink_ros2_ws/install/setup.bash

@@ -0,0 +1,31 @@
+# generated from colcon_bash/shell/template/prefix_chain.bash.em
+
+# This script extends the environment with the environment of other prefix
+# paths which were sourced when this file was generated as well as all packages
+# contained in this prefix path.
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+_colcon_prefix_chain_bash_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$1"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# source chained prefixes
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
+COLCON_CURRENT_PREFIX="/opt/ros/humble"
+_colcon_prefix_chain_bash_source_script "$COLCON_CURRENT_PREFIX/local_setup.bash"
+
+# source this prefix
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
+COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)"
+_colcon_prefix_chain_bash_source_script "$COLCON_CURRENT_PREFIX/local_setup.bash"
+
+unset COLCON_CURRENT_PREFIX
+unset _colcon_prefix_chain_bash_source_script

skylink_ros2_ws/install/setup.ps1

@@ -0,0 +1,29 @@
+# generated from colcon_powershell/shell/template/prefix_chain.ps1.em
+
+# This script extends the environment with the environment of other prefix
+# paths which were sourced when this file was generated as well as all packages
+# contained in this prefix path.
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+function _colcon_prefix_chain_powershell_source_script {
+  param (
+    $_colcon_prefix_chain_powershell_source_script_param
+  )
+  # source script with conditional trace output
+  if (Test-Path $_colcon_prefix_chain_powershell_source_script_param) {
+    if ($env:COLCON_TRACE) {
+      echo ". '$_colcon_prefix_chain_powershell_source_script_param'"
+    }
+    . "$_colcon_prefix_chain_powershell_source_script_param"
+  } else {
+    Write-Error "not found: '$_colcon_prefix_chain_powershell_source_script_param'"
+  }
+}
+
+# source chained prefixes
+_colcon_prefix_chain_powershell_source_script "/opt/ros/humble\local_setup.ps1"
+
+# source this prefix
+$env:COLCON_CURRENT_PREFIX=(Split-Path $PSCommandPath -Parent)
+_colcon_prefix_chain_powershell_source_script "$env:COLCON_CURRENT_PREFIX\local_setup.ps1"

skylink_ros2_ws/install/setup.sh

@@ -0,0 +1,45 @@
+# generated from colcon_core/shell/template/prefix_chain.sh.em
+
+# This script extends the environment with the environment of other prefix
+# paths which were sourced when this file was generated as well as all packages
+# contained in this prefix path.
+
+# since a plain shell script can't determine its own path when being sourced
+# either use the provided COLCON_CURRENT_PREFIX
+# or fall back to the build time prefix (if it exists)
+_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX=/home/flower/code/camera/flyLink/skylink_ros2_ws/install
+if [ ! -z "$COLCON_CURRENT_PREFIX" ]; then
+  _colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+elif [ ! -d "$_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX" ]; then
+  echo "The build time path \"$_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2
+  unset _colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX
+  return 1
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+_colcon_prefix_chain_sh_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$1"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# source chained prefixes
+# setting COLCON_CURRENT_PREFIX avoids relying on the build time prefix of the sourced script
+COLCON_CURRENT_PREFIX="/opt/ros/humble"
+_colcon_prefix_chain_sh_source_script "$COLCON_CURRENT_PREFIX/local_setup.sh"
+
+
+# source this prefix
+# setting COLCON_CURRENT_PREFIX avoids relying on the build time prefix of the sourced script
+COLCON_CURRENT_PREFIX="$_colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX"
+_colcon_prefix_chain_sh_source_script "$COLCON_CURRENT_PREFIX/local_setup.sh"
+
+unset _colcon_prefix_chain_sh_COLCON_CURRENT_PREFIX
+unset _colcon_prefix_chain_sh_source_script
+unset COLCON_CURRENT_PREFIX

skylink_ros2_ws/install/setup.zsh

@@ -0,0 +1,31 @@
+# generated from colcon_zsh/shell/template/prefix_chain.zsh.em
+
+# This script extends the environment with the environment of other prefix
+# paths which were sourced when this file was generated as well as all packages
+# contained in this prefix path.
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+_colcon_prefix_chain_zsh_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$1"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# source chained prefixes
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
+COLCON_CURRENT_PREFIX="/opt/ros/humble"
+_colcon_prefix_chain_zsh_source_script "$COLCON_CURRENT_PREFIX/local_setup.zsh"
+
+# source this prefix
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced script
+COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd)"
+_colcon_prefix_chain_zsh_source_script "$COLCON_CURRENT_PREFIX/local_setup.zsh"
+
+unset COLCON_CURRENT_PREFIX
+unset _colcon_prefix_chain_zsh_source_script

skylink_ros2_ws/install/skylink_bridge_python/lib/python3.10/site-packages/skylink-bridge-python.egg-link

@@ -0,0 +1,2 @@
+/home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python
+.

skylink_ros2_ws/install/skylink_bridge_python/lib/skylink_bridge_python/camera_driver_node

@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'skylink-bridge-python','console_scripts','camera_driver_node'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'skylink-bridge-python'
+
+try:
+    from importlib.metadata import distribution
+except ImportError:
+    try:
+        from importlib_metadata import distribution
+    except ImportError:
+        from pkg_resources import load_entry_point
+
+
+def importlib_load_entry_point(spec, group, name):
+    dist_name, _, _ = spec.partition('==')
+    matches = (
+        entry_point
+        for entry_point in distribution(dist_name).entry_points
+        if entry_point.group == group and entry_point.name == name
+    )
+    return next(matches).load()
+
+
+globals().setdefault('load_entry_point', importlib_load_entry_point)
+
+
+if __name__ == '__main__':
+    sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
+    sys.exit(load_entry_point('skylink-bridge-python', 'console_scripts', 'camera_driver_node')())

skylink_ros2_ws/install/skylink_bridge_python/share/ament_index/resource_index/packages/skylink_bridge_python

@@ -0,0 +1 @@
+/home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python/resource/skylink_bridge_python

skylink_ros2_ws/install/skylink_bridge_python/share/colcon-core/packages/skylink_bridge_python

@@ -0,0 +1 @@
+python3-opencv:rclpy:sensor_msgs:std_msgs:std_srvs

skylink_ros2_ws/install/skylink_bridge_python/share/skylink_bridge_python/config/params.yaml

@@ -0,0 +1 @@
+/home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python/config/params.yaml

skylink_ros2_ws/install/skylink_bridge_python/share/skylink_bridge_python/hook/ament_prefix_path.dsv

@@ -0,0 +1 @@
+prepend-non-duplicate;AMENT_PREFIX_PATH;

skylink_ros2_ws/install/skylink_bridge_python/share/skylink_bridge_python/hook/ament_prefix_path.ps1

@@ -0,0 +1,3 @@
+# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
+
+colcon_prepend_unique_value AMENT_PREFIX_PATH "$env:COLCON_CURRENT_PREFIX"

skylink_ros2_ws/install/skylink_bridge_python/share/skylink_bridge_python/hook/ament_prefix_path.sh

@@ -0,0 +1,3 @@
+# generated from colcon_core/shell/template/hook_prepend_value.sh.em
+
+_colcon_prepend_unique_value AMENT_PREFIX_PATH "$COLCON_CURRENT_PREFIX"

skylink_ros2_ws/install/skylink_bridge_python/share/skylink_bridge_python/hook/pythonpath.dsv

@@ -0,0 +1 @@
+prepend-non-duplicate;PYTHONPATH;lib/python3.10/site-packages

skylink_ros2_ws/install/skylink_bridge_python/share/skylink_bridge_python/hook/pythonpath.ps1

@@ -0,0 +1,3 @@
+# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
+
+colcon_prepend_unique_value PYTHONPATH "$env:COLCON_CURRENT_PREFIX\lib/python3.10/site-packages"

skylink_ros2_ws/install/skylink_bridge_python/share/skylink_bridge_python/hook/pythonpath.sh

@@ -0,0 +1,3 @@
+# generated from colcon_core/shell/template/hook_prepend_value.sh.em
+
+_colcon_prepend_unique_value PYTHONPATH "$COLCON_CURRENT_PREFIX/lib/python3.10/site-packages"

skylink_ros2_ws/install/skylink_bridge_python/share/skylink_bridge_python/launch/bridge.launch.py

@@ -0,0 +1 @@
+/home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python/launch/bridge.launch.py

skylink_ros2_ws/install/skylink_bridge_python/share/skylink_bridge_python/package.bash

@@ -0,0 +1,31 @@
+# generated from colcon_bash/shell/template/package.bash.em
+
+# This script extends the environment for this package.
+
+# a bash script is able to determine its own path if necessary
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+  # the prefix is two levels up from the package specific share directory
+  _colcon_package_bash_COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." > /dev/null && pwd)"
+else
+  _colcon_package_bash_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+_colcon_package_bash_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$@"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# source sh script of this package
+_colcon_package_bash_source_script "$_colcon_package_bash_COLCON_CURRENT_PREFIX/share/skylink_bridge_python/package.sh"
+
+unset _colcon_package_bash_source_script
+unset _colcon_package_bash_COLCON_CURRENT_PREFIX

skylink_ros2_ws/install/skylink_bridge_python/share/skylink_bridge_python/package.dsv

@@ -0,0 +1,9 @@
+source;share/skylink_bridge_python/hook/pythonpath.ps1
+source;share/skylink_bridge_python/hook/pythonpath.dsv
+source;share/skylink_bridge_python/hook/pythonpath.sh
+source;share/skylink_bridge_python/hook/ament_prefix_path.ps1
+source;share/skylink_bridge_python/hook/ament_prefix_path.dsv
+source;share/skylink_bridge_python/hook/ament_prefix_path.sh
+source;../../build/skylink_bridge_python/share/skylink_bridge_python/hook/pythonpath_develop.ps1
+source;../../build/skylink_bridge_python/share/skylink_bridge_python/hook/pythonpath_develop.dsv
+source;../../build/skylink_bridge_python/share/skylink_bridge_python/hook/pythonpath_develop.sh

skylink_ros2_ws/install/skylink_bridge_python/share/skylink_bridge_python/package.ps1

@@ -0,0 +1,117 @@
+# generated from colcon_powershell/shell/template/package.ps1.em
+
+# function to append a value to a variable
+# which uses colons as separators
+# duplicates as well as leading separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+function colcon_append_unique_value {
+  param (
+    $_listname,
+    $_value
+  )
+
+  # get values from variable
+  if (Test-Path Env:$_listname) {
+    $_values=(Get-Item env:$_listname).Value
+  } else {
+    $_values=""
+  }
+  $_duplicate=""
+  # start with no values
+  $_all_values=""
+  # iterate over existing values in the variable
+  if ($_values) {
+    $_values.Split(";") | ForEach {
+      # not an empty string
+      if ($_) {
+        # not a duplicate of _value
+        if ($_ -eq $_value) {
+          $_duplicate="1"
+        }
+        if ($_all_values) {
+          $_all_values="${_all_values};$_"
+        } else {
+          $_all_values="$_"
+        }
+      }
+    }
+  }
+  # append only non-duplicates
+  if (!$_duplicate) {
+    # avoid leading separator
+    if ($_all_values) {
+      $_all_values="${_all_values};${_value}"
+    } else {
+      $_all_values="${_value}"
+    }
+  }
+
+  # export the updated variable
+  Set-Item env:\$_listname -Value "$_all_values"
+}
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+function colcon_prepend_unique_value {
+  param (
+    $_listname,
+    $_value
+  )
+
+  # get values from variable
+  if (Test-Path Env:$_listname) {
+    $_values=(Get-Item env:$_listname).Value
+  } else {
+    $_values=""
+  }
+  # start with the new value
+  $_all_values="$_value"
+  # iterate over existing values in the variable
+  if ($_values) {
+    $_values.Split(";") | ForEach {
+      # not an empty string
+      if ($_) {
+        # not a duplicate of _value
+        if ($_ -ne $_value) {
+          # keep non-duplicate values
+          $_all_values="${_all_values};$_"
+        }
+      }
+    }
+  }
+  # export the updated variable
+  Set-Item env:\$_listname -Value "$_all_values"
+}
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+function colcon_package_source_powershell_script {
+  param (
+    $_colcon_package_source_powershell_script
+  )
+  # source script with conditional trace output
+  if (Test-Path $_colcon_package_source_powershell_script) {
+    if ($env:COLCON_TRACE) {
+      echo ". '$_colcon_package_source_powershell_script'"
+    }
+    . "$_colcon_package_source_powershell_script"
+  } else {
+    Write-Error "not found: '$_colcon_package_source_powershell_script'"
+  }
+}
+
+
+# a powershell script is able to determine its own path
+# the prefix is two levels up from the package specific share directory
+$env:COLCON_CURRENT_PREFIX=(Get-Item $PSCommandPath).Directory.Parent.Parent.FullName
+
+colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/skylink_bridge_python/hook/pythonpath.ps1"
+colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\share/skylink_bridge_python/hook/ament_prefix_path.ps1"
+colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX\../../build/skylink_bridge_python/share/skylink_bridge_python/hook/pythonpath_develop.ps1"
+
+Remove-Item Env:\COLCON_CURRENT_PREFIX

skylink_ros2_ws/install/skylink_bridge_python/share/skylink_bridge_python/package.sh

@@ -0,0 +1,88 @@
+# generated from colcon_core/shell/template/package.sh.em
+
+# This script extends the environment for this package.
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+_colcon_prepend_unique_value() {
+  # arguments
+  _listname="$1"
+  _value="$2"
+
+  # get values from variable
+  eval _values=\"\$$_listname\"
+  # backup the field separator
+  _colcon_prepend_unique_value_IFS=$IFS
+  IFS=":"
+  # start with the new value
+  _all_values="$_value"
+  # workaround SH_WORD_SPLIT not being set in zsh
+  if [ "$(command -v colcon_zsh_convert_to_array)" ]; then
+    colcon_zsh_convert_to_array _values
+  fi
+  # iterate over existing values in the variable
+  for _item in $_values; do
+    # ignore empty strings
+    if [ -z "$_item" ]; then
+      continue
+    fi
+    # ignore duplicates of _value
+    if [ "$_item" = "$_value" ]; then
+      continue
+    fi
+    # keep non-duplicate values
+    _all_values="$_all_values:$_item"
+  done
+  unset _item
+  # restore the field separator
+  IFS=$_colcon_prepend_unique_value_IFS
+  unset _colcon_prepend_unique_value_IFS
+  # export the updated variable
+  eval export $_listname=\"$_all_values\"
+  unset _all_values
+  unset _values
+
+  unset _value
+  unset _listname
+}
+
+# since a plain shell script can't determine its own path when being sourced
+# either use the provided COLCON_CURRENT_PREFIX
+# or fall back to the build time prefix (if it exists)
+_colcon_package_sh_COLCON_CURRENT_PREFIX="/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python"
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+  if [ ! -d "$_colcon_package_sh_COLCON_CURRENT_PREFIX" ]; then
+    echo "The build time path \"$_colcon_package_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2
+    unset _colcon_package_sh_COLCON_CURRENT_PREFIX
+    return 1
+  fi
+  COLCON_CURRENT_PREFIX="$_colcon_package_sh_COLCON_CURRENT_PREFIX"
+fi
+unset _colcon_package_sh_COLCON_CURRENT_PREFIX
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+_colcon_package_sh_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$@"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# source sh hooks
+_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/skylink_bridge_python/hook/pythonpath.sh"
+_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/skylink_bridge_python/hook/ament_prefix_path.sh"
+_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/../../build/skylink_bridge_python/share/skylink_bridge_python/hook/pythonpath_develop.sh"
+
+unset _colcon_package_sh_source_script
+unset COLCON_CURRENT_PREFIX
+
+# do not unset _colcon_prepend_unique_value since it might be used by non-primary shell hooks

skylink_ros2_ws/install/skylink_bridge_python/share/skylink_bridge_python/package.xml

@@ -0,0 +1 @@
+/home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python/package.xml

skylink_ros2_ws/install/skylink_bridge_python/share/skylink_bridge_python/package.zsh

@@ -0,0 +1,42 @@
+# generated from colcon_zsh/shell/template/package.zsh.em
+
+# This script extends the environment for this package.
+
+# a zsh script is able to determine its own path if necessary
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+  # the prefix is two levels up from the package specific share directory
+  _colcon_package_zsh_COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd)"
+else
+  _colcon_package_zsh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+_colcon_package_zsh_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$@"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# function to convert array-like strings into arrays
+# to workaround SH_WORD_SPLIT not being set
+colcon_zsh_convert_to_array() {
+  local _listname=$1
+  local _dollar="$"
+  local _split="{="
+  local _to_array="(\"$_dollar$_split$_listname}\")"
+  eval $_listname=$_to_array
+}
+
+# source sh script of this package
+_colcon_package_zsh_source_script "$_colcon_package_zsh_COLCON_CURRENT_PREFIX/share/skylink_bridge_python/package.sh"
+unset convert_zsh_to_array
+
+unset _colcon_package_zsh_source_script
+unset _colcon_package_zsh_COLCON_CURRENT_PREFIX

skylink_ros2_ws/log/build_2026-02-02_13-52-27/logger_all.log

@@ -0,0 +1,132 @@
+[0.045s] DEBUG:colcon:Command line arguments: ['/usr/bin/colcon', 'build', '--symlink-install', '--cmake-args', '-DCMAKE_BUILD_TYPE=Release']
+[0.045s] DEBUG:colcon:Parsed command line arguments: Namespace(log_base=None, log_level=None, verb_name='build', build_base='build', install_base='install', merge_install=False, symlink_install=True, test_result_base=None, continue_on_error=False, executor='parallel', parallel_workers=24, event_handlers=None, ignore_user_meta=False, metas=['./colcon.meta'], base_paths=['.'], packages_ignore=None, packages_ignore_regex=None, paths=None, packages_up_to=None, packages_up_to_regex=None, packages_above=None, packages_above_and_dependencies=None, packages_above_depth=None, packages_select_by_dep=None, packages_skip_by_dep=None, packages_skip_up_to=None, packages_select_build_failed=False, packages_skip_build_finished=False, packages_select_test_failures=False, packages_skip_test_passed=False, packages_select=None, packages_skip=None, packages_select_regex=None, packages_skip_regex=None, packages_start=None, packages_end=None, allow_overriding=[], cmake_args=['-DCMAKE_BUILD_TYPE=Release'], cmake_target=None, cmake_target_skip_unavailable=False, cmake_clean_cache=False, cmake_clean_first=False, cmake_force_configure=False, ament_cmake_args=None, catkin_cmake_args=None, catkin_skip_building_tests=False, verb_parser=<colcon_defaults.argument_parser.defaults.DefaultArgumentsDecorator object at 0x70ac7cf68100>, verb_extension=<colcon_core.verb.build.BuildVerb object at 0x70ac7cf330a0>, main=<bound method BuildVerb.main of <colcon_core.verb.build.BuildVerb object at 0x70ac7cf330a0>>)
+[0.116s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) check parameters
+[0.116s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) check parameters
+[0.116s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) check parameters
+[0.116s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) check parameters
+[0.116s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) discover
+[0.116s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) discover
+[0.116s] INFO:colcon.colcon_core.package_discovery:Crawling recursively for packages in '/home/flower/code/camera/flyLink/skylink_ros2_ws'
+[0.116s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ignore', 'ignore_ament_install']
+[0.116s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore'
+[0.116s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore_ament_install'
+[0.116s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_pkg']
+[0.116s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_pkg'
+[0.116s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_meta']
+[0.116s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_meta'
+[0.116s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ros']
+[0.116s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ros'
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['cmake', 'python']
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'cmake'
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python'
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['python_setup_py']
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python_setup_py'
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extensions ['ignore', 'ignore_ament_install']
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extension 'ignore'
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(build) ignored
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extensions ['ignore', 'ignore_ament_install']
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extension 'ignore'
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(install) ignored
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extensions ['ignore', 'ignore_ament_install']
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extension 'ignore'
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(log) ignored
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['ignore', 'ignore_ament_install']
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ignore'
+[0.122s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ignore_ament_install'
+[0.122s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['colcon_pkg']
+[0.122s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'colcon_pkg'
+[0.122s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['colcon_meta']
+[0.122s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'colcon_meta'
+[0.122s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['ros']
+[0.122s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ros'
+[0.122s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['cmake', 'python']
+[0.122s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'cmake'
+[0.122s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'python'
+[0.122s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['python_setup_py']
+[0.122s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'python_setup_py'
+[0.122s] Level 1:colcon.colcon_core.package_identification:_identify(src/skylink_bridge_python) by extensions ['ignore', 'ignore_ament_install']
+[0.122s] Level 1:colcon.colcon_core.package_identification:_identify(src/skylink_bridge_python) by extension 'ignore'
+[0.122s] Level 1:colcon.colcon_core.package_identification:_identify(src/skylink_bridge_python) by extension 'ignore_ament_install'
+[0.122s] Level 1:colcon.colcon_core.package_identification:_identify(src/skylink_bridge_python) by extensions ['colcon_pkg']
+[0.122s] Level 1:colcon.colcon_core.package_identification:_identify(src/skylink_bridge_python) by extension 'colcon_pkg'
+[0.122s] Level 1:colcon.colcon_core.package_identification:_identify(src/skylink_bridge_python) by extensions ['colcon_meta']
+[0.122s] Level 1:colcon.colcon_core.package_identification:_identify(src/skylink_bridge_python) by extension 'colcon_meta'
+[0.122s] Level 1:colcon.colcon_core.package_identification:_identify(src/skylink_bridge_python) by extensions ['ros']
+[0.122s] Level 1:colcon.colcon_core.package_identification:_identify(src/skylink_bridge_python) by extension 'ros'
+[0.123s] DEBUG:colcon.colcon_core.package_identification:Package 'src/skylink_bridge_python' with type 'ros.ament_python' and name 'skylink_bridge_python'
+[0.123s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) using defaults
+[0.123s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) discover
+[0.123s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) using defaults
+[0.123s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) discover
+[0.123s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) using defaults
+[0.136s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) check parameters
+[0.136s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) discover
+[0.136s] WARNING:colcon.colcon_ros.prefix_path.ament:The path '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python' in the environment variable AMENT_PREFIX_PATH doesn't exist
+[0.137s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 0 installed packages in /home/flower/code/camera/flyLink/skylink_ros2_ws/install
+[0.137s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 281 installed packages in /opt/ros/humble
+[0.138s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) using defaults
+[0.153s] Level 5:colcon.colcon_core.verb:set package 'skylink_bridge_python' build argument 'cmake_args' from command line to '['-DCMAKE_BUILD_TYPE=Release']'
+[0.153s] Level 5:colcon.colcon_core.verb:set package 'skylink_bridge_python' build argument 'cmake_target' from command line to 'None'
+[0.153s] Level 5:colcon.colcon_core.verb:set package 'skylink_bridge_python' build argument 'cmake_target_skip_unavailable' from command line to 'False'
+[0.153s] Level 5:colcon.colcon_core.verb:set package 'skylink_bridge_python' build argument 'cmake_clean_cache' from command line to 'False'
+[0.153s] Level 5:colcon.colcon_core.verb:set package 'skylink_bridge_python' build argument 'cmake_clean_first' from command line to 'False'
+[0.153s] Level 5:colcon.colcon_core.verb:set package 'skylink_bridge_python' build argument 'cmake_force_configure' from command line to 'False'
+[0.154s] Level 5:colcon.colcon_core.verb:set package 'skylink_bridge_python' build argument 'ament_cmake_args' from command line to 'None'
+[0.154s] Level 5:colcon.colcon_core.verb:set package 'skylink_bridge_python' build argument 'catkin_cmake_args' from command line to 'None'
+[0.154s] Level 5:colcon.colcon_core.verb:set package 'skylink_bridge_python' build argument 'catkin_skip_building_tests' from command line to 'False'
+[0.154s] DEBUG:colcon.colcon_core.verb:Building package 'skylink_bridge_python' with the following arguments: {'ament_cmake_args': None, 'build_base': '/home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python', 'catkin_cmake_args': None, 'catkin_skip_building_tests': False, 'cmake_args': ['-DCMAKE_BUILD_TYPE=Release'], 'cmake_clean_cache': False, 'cmake_clean_first': False, 'cmake_force_configure': False, 'cmake_target': None, 'cmake_target_skip_unavailable': False, 'install_base': '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python', 'merge_install': False, 'path': '/home/flower/code/camera/flyLink/skylink_ros2_ws/src/skylink_bridge_python', 'symlink_install': True, 'test_result_base': None}
+[0.154s] INFO:colcon.colcon_core.executor:Executing jobs using 'parallel' executor
+[0.154s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete
+[0.154s] INFO:colcon.colcon_ros.task.ament_python.build:Building ROS package in '/home/flower/code/camera/flyLink/skylink_ros2_ws/src/skylink_bridge_python' with build type 'ament_python'
+[0.155s] Level 1:colcon.colcon_core.shell:create_environment_hook('skylink_bridge_python', 'ament_prefix_path')
+[0.155s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_core.shell.bat': Not used on non-Windows systems
+[0.156s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/share/skylink_bridge_python/hook/ament_prefix_path.ps1'
+[0.156s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/share/skylink_bridge_python/hook/ament_prefix_path.dsv'
+[0.156s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/share/skylink_bridge_python/hook/ament_prefix_path.sh'
+[0.156s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[0.157s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[0.270s] INFO:colcon.colcon_core.task.python.build:Building Python package in '/home/flower/code/camera/flyLink/skylink_ros2_ws/src/skylink_bridge_python'
+[0.270s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[0.270s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[0.418s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python': PYTHONPATH=/home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py develop --editable --build-directory /home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python/build --no-deps symlink_data
+[0.612s] Level 1:colcon.colcon_core.shell:create_environment_hook('skylink_bridge_python', 'pythonpath_develop')
+[0.612s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python/share/skylink_bridge_python/hook/pythonpath_develop.ps1'
+[0.612s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python' returned '0': PYTHONPATH=/home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py develop --editable --build-directory /home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python/build --no-deps symlink_data
+[0.612s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python/share/skylink_bridge_python/hook/pythonpath_develop.dsv'
+[0.612s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python/share/skylink_bridge_python/hook/pythonpath_develop.sh'
+[0.613s] Level 1:colcon.colcon_core.environment:checking '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python' for CMake module files
+[0.614s] Level 1:colcon.colcon_core.environment:checking '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python' for CMake config files
+[0.614s] Level 1:colcon.colcon_core.environment:checking '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/lib'
+[0.614s] Level 1:colcon.colcon_core.environment:checking '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/bin'
+[0.614s] Level 1:colcon.colcon_core.environment:checking '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/lib/pkgconfig/skylink_bridge_python.pc'
+[0.614s] Level 1:colcon.colcon_core.environment:checking '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/lib/python3.10/site-packages'
+[0.614s] Level 1:colcon.colcon_core.shell:create_environment_hook('skylink_bridge_python', 'pythonpath')
+[0.614s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/share/skylink_bridge_python/hook/pythonpath.ps1'
+[0.614s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/share/skylink_bridge_python/hook/pythonpath.dsv'
+[0.614s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/share/skylink_bridge_python/hook/pythonpath.sh'
+[0.615s] Level 1:colcon.colcon_core.environment:checking '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/bin'
+[0.615s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(skylink_bridge_python)
+[0.615s] INFO:colcon.colcon_core.shell:Creating package script '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/share/skylink_bridge_python/package.ps1'
+[0.615s] INFO:colcon.colcon_core.shell:Creating package descriptor '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/share/skylink_bridge_python/package.dsv'
+[0.615s] INFO:colcon.colcon_core.shell:Creating package script '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/share/skylink_bridge_python/package.sh'
+[0.616s] INFO:colcon.colcon_core.shell:Creating package script '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/share/skylink_bridge_python/package.bash'
+[0.616s] INFO:colcon.colcon_core.shell:Creating package script '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/share/skylink_bridge_python/package.zsh'
+[0.616s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/share/colcon-core/packages/skylink_bridge_python)
+[0.616s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:closing loop
+[0.616s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:loop closed
+[0.616s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete finished with '0'
+[0.616s] DEBUG:colcon.colcon_core.event_reactor:joining thread
+[0.619s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.terminal_notifier': Not used on non-Darwin systems
+[0.619s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.win32': Not used on non-Windows systems
+[0.619s] INFO:colcon.colcon_notification.desktop_notification:Sending desktop notification using 'notify2'
+[0.626s] DEBUG:colcon.colcon_core.event_reactor:joined thread
+[0.626s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/local_setup.ps1'
+[0.626s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/_local_setup_util_ps1.py'
+[0.627s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/setup.ps1'
+[0.627s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/local_setup.sh'
+[0.627s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/_local_setup_util_sh.py'
+[0.628s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/setup.sh'
+[0.628s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/local_setup.bash'
+[0.628s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/setup.bash'
+[0.628s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/local_setup.zsh'
+[0.629s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/setup.zsh'

skylink_ros2_ws/log/build_2026-02-02_13-52-27/skylink_bridge_python/command.log

@@ -0,0 +1,2 @@
+Invoking command in '/home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python': PYTHONPATH=/home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py develop --editable --build-directory /home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python/build --no-deps symlink_data
+Invoked command in '/home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python' returned '0': PYTHONPATH=/home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py develop --editable --build-directory /home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python/build --no-deps symlink_data

skylink_ros2_ws/log/build_2026-02-02_13-52-27/skylink_bridge_python/stdout.log

@@ -0,0 +1,26 @@
+running develop
+running egg_info
+creating skylink_bridge_python.egg-info
+writing skylink_bridge_python.egg-info/PKG-INFO
+writing dependency_links to skylink_bridge_python.egg-info/dependency_links.txt
+writing entry points to skylink_bridge_python.egg-info/entry_points.txt
+writing requirements to skylink_bridge_python.egg-info/requires.txt
+writing top-level names to skylink_bridge_python.egg-info/top_level.txt
+writing manifest file 'skylink_bridge_python.egg-info/SOURCES.txt'
+reading manifest file 'skylink_bridge_python.egg-info/SOURCES.txt'
+writing manifest file 'skylink_bridge_python.egg-info/SOURCES.txt'
+running build_ext
+Creating /home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/lib/python3.10/site-packages/skylink-bridge-python.egg-link (link to .)
+Installing camera_driver_node script to /home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/lib/skylink_bridge_python
+
+Installed /home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python
+running symlink_data
+creating /home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/share/ament_index
+creating /home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/share/ament_index/resource_index
+creating /home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/share/ament_index/resource_index/packages
+symbolically linking /home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python/resource/skylink_bridge_python -> /home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/share/ament_index/resource_index/packages
+symbolically linking /home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python/package.xml -> /home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/share/skylink_bridge_python
+creating /home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/share/skylink_bridge_python/launch
+symbolically linking /home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python/launch/bridge.launch.py -> /home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/share/skylink_bridge_python/launch
+creating /home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/share/skylink_bridge_python/config
+symbolically linking /home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python/config/params.yaml -> /home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/share/skylink_bridge_python/config

skylink_ros2_ws/log/build_2026-02-02_13-52-27/skylink_bridge_python/stdout_stderr.log

@@ -0,0 +1,26 @@
+running develop
+running egg_info
+creating skylink_bridge_python.egg-info
+writing skylink_bridge_python.egg-info/PKG-INFO
+writing dependency_links to skylink_bridge_python.egg-info/dependency_links.txt
+writing entry points to skylink_bridge_python.egg-info/entry_points.txt
+writing requirements to skylink_bridge_python.egg-info/requires.txt
+writing top-level names to skylink_bridge_python.egg-info/top_level.txt
+writing manifest file 'skylink_bridge_python.egg-info/SOURCES.txt'
+reading manifest file 'skylink_bridge_python.egg-info/SOURCES.txt'
+writing manifest file 'skylink_bridge_python.egg-info/SOURCES.txt'
+running build_ext
+Creating /home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/lib/python3.10/site-packages/skylink-bridge-python.egg-link (link to .)
+Installing camera_driver_node script to /home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/lib/skylink_bridge_python
+
+Installed /home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python
+running symlink_data
+creating /home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/share/ament_index
+creating /home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/share/ament_index/resource_index
+creating /home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/share/ament_index/resource_index/packages
+symbolically linking /home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python/resource/skylink_bridge_python -> /home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/share/ament_index/resource_index/packages
+symbolically linking /home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python/package.xml -> /home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/share/skylink_bridge_python
+creating /home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/share/skylink_bridge_python/launch
+symbolically linking /home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python/launch/bridge.launch.py -> /home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/share/skylink_bridge_python/launch
+creating /home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/share/skylink_bridge_python/config
+symbolically linking /home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python/config/params.yaml -> /home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/share/skylink_bridge_python/config

skylink_ros2_ws/log/build_2026-02-02_13-52-27/skylink_bridge_python/streams.log

@@ -0,0 +1,28 @@
+[0.263s] Invoking command in '/home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python': PYTHONPATH=/home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py develop --editable --build-directory /home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python/build --no-deps symlink_data
+[0.379s] running develop
+[0.443s] running egg_info
+[0.443s] creating skylink_bridge_python.egg-info
+[0.443s] writing skylink_bridge_python.egg-info/PKG-INFO
+[0.443s] writing dependency_links to skylink_bridge_python.egg-info/dependency_links.txt
+[0.443s] writing entry points to skylink_bridge_python.egg-info/entry_points.txt
+[0.443s] writing requirements to skylink_bridge_python.egg-info/requires.txt
+[0.443s] writing top-level names to skylink_bridge_python.egg-info/top_level.txt
+[0.444s] writing manifest file 'skylink_bridge_python.egg-info/SOURCES.txt'
+[0.444s] reading manifest file 'skylink_bridge_python.egg-info/SOURCES.txt'
+[0.444s] writing manifest file 'skylink_bridge_python.egg-info/SOURCES.txt'
+[0.445s] running build_ext
+[0.445s] Creating /home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/lib/python3.10/site-packages/skylink-bridge-python.egg-link (link to .)
+[0.445s] Installing camera_driver_node script to /home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/lib/skylink_bridge_python
+[0.445s] 
+[0.445s] Installed /home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python
+[0.445s] running symlink_data
+[0.445s] creating /home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/share/ament_index
+[0.445s] creating /home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/share/ament_index/resource_index
+[0.445s] creating /home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/share/ament_index/resource_index/packages
+[0.446s] symbolically linking /home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python/resource/skylink_bridge_python -> /home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/share/ament_index/resource_index/packages
+[0.446s] symbolically linking /home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python/package.xml -> /home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/share/skylink_bridge_python
+[0.446s] creating /home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/share/skylink_bridge_python/launch
+[0.446s] symbolically linking /home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python/launch/bridge.launch.py -> /home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/share/skylink_bridge_python/launch
+[0.446s] creating /home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/share/skylink_bridge_python/config
+[0.446s] symbolically linking /home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python/config/params.yaml -> /home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/share/skylink_bridge_python/config
+[0.457s] Invoked command in '/home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python' returned '0': PYTHONPATH=/home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py develop --editable --build-directory /home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python/build --no-deps symlink_data

skylink_ros2_ws/log/build_2026-02-02_14-07-50/logger_all.log

@@ -0,0 +1,144 @@
+[0.045s] DEBUG:colcon:Command line arguments: ['/usr/bin/colcon', 'build', '--symlink-install', '--cmake-args', '-DCMAKE_BUILD_TYPE=Release']
+[0.045s] DEBUG:colcon:Parsed command line arguments: Namespace(log_base=None, log_level=None, verb_name='build', build_base='build', install_base='install', merge_install=False, symlink_install=True, test_result_base=None, continue_on_error=False, executor='parallel', parallel_workers=24, event_handlers=None, ignore_user_meta=False, metas=['./colcon.meta'], base_paths=['.'], packages_ignore=None, packages_ignore_regex=None, paths=None, packages_up_to=None, packages_up_to_regex=None, packages_above=None, packages_above_and_dependencies=None, packages_above_depth=None, packages_select_by_dep=None, packages_skip_by_dep=None, packages_skip_up_to=None, packages_select_build_failed=False, packages_skip_build_finished=False, packages_select_test_failures=False, packages_skip_test_passed=False, packages_select=None, packages_skip=None, packages_select_regex=None, packages_skip_regex=None, packages_start=None, packages_end=None, allow_overriding=[], cmake_args=['-DCMAKE_BUILD_TYPE=Release'], cmake_target=None, cmake_target_skip_unavailable=False, cmake_clean_cache=False, cmake_clean_first=False, cmake_force_configure=False, ament_cmake_args=None, catkin_cmake_args=None, catkin_skip_building_tests=False, verb_parser=<colcon_defaults.argument_parser.defaults.DefaultArgumentsDecorator object at 0x7451b943ba30>, verb_extension=<colcon_core.verb.build.BuildVerb object at 0x7451b943aa10>, main=<bound method BuildVerb.main of <colcon_core.verb.build.BuildVerb object at 0x7451b943aa10>>)
+[0.116s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) check parameters
+[0.116s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) check parameters
+[0.116s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) check parameters
+[0.116s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) check parameters
+[0.116s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) discover
+[0.116s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) discover
+[0.116s] INFO:colcon.colcon_core.package_discovery:Crawling recursively for packages in '/home/flower/code/camera/flyLink/skylink_ros2_ws'
+[0.116s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ignore', 'ignore_ament_install']
+[0.116s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore'
+[0.116s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore_ament_install'
+[0.116s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_pkg']
+[0.116s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_pkg'
+[0.116s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_meta']
+[0.116s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_meta'
+[0.116s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ros']
+[0.116s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ros'
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['cmake', 'python']
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'cmake'
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python'
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['python_setup_py']
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python_setup_py'
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extensions ['ignore', 'ignore_ament_install']
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extension 'ignore'
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(build) ignored
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(camera_data) by extensions ['ignore', 'ignore_ament_install']
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(camera_data) by extension 'ignore'
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(camera_data) by extension 'ignore_ament_install'
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(camera_data) by extensions ['colcon_pkg']
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(camera_data) by extension 'colcon_pkg'
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(camera_data) by extensions ['colcon_meta']
+[0.121s] Level 1:colcon.colcon_core.package_identification:_identify(camera_data) by extension 'colcon_meta'
+[0.122s] Level 1:colcon.colcon_core.package_identification:_identify(camera_data) by extensions ['ros']
+[0.122s] Level 1:colcon.colcon_core.package_identification:_identify(camera_data) by extension 'ros'
+[0.122s] Level 1:colcon.colcon_core.package_identification:_identify(camera_data) by extensions ['cmake', 'python']
+[0.122s] Level 1:colcon.colcon_core.package_identification:_identify(camera_data) by extension 'cmake'
+[0.122s] Level 1:colcon.colcon_core.package_identification:_identify(camera_data) by extension 'python'
+[0.122s] Level 1:colcon.colcon_core.package_identification:_identify(camera_data) by extensions ['python_setup_py']
+[0.122s] Level 1:colcon.colcon_core.package_identification:_identify(camera_data) by extension 'python_setup_py'
+[0.122s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extensions ['ignore', 'ignore_ament_install']
+[0.122s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extension 'ignore'
+[0.122s] Level 1:colcon.colcon_core.package_identification:_identify(install) ignored
+[0.122s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extensions ['ignore', 'ignore_ament_install']
+[0.122s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extension 'ignore'
+[0.122s] Level 1:colcon.colcon_core.package_identification:_identify(log) ignored
+[0.122s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['ignore', 'ignore_ament_install']
+[0.122s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ignore'
+[0.122s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ignore_ament_install'
+[0.122s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['colcon_pkg']
+[0.122s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'colcon_pkg'
+[0.122s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['colcon_meta']
+[0.122s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'colcon_meta'
+[0.122s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['ros']
+[0.122s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ros'
+[0.122s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['cmake', 'python']
+[0.122s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'cmake'
+[0.122s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'python'
+[0.122s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['python_setup_py']
+[0.122s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'python_setup_py'
+[0.122s] Level 1:colcon.colcon_core.package_identification:_identify(src/skylink_bridge_python) by extensions ['ignore', 'ignore_ament_install']
+[0.122s] Level 1:colcon.colcon_core.package_identification:_identify(src/skylink_bridge_python) by extension 'ignore'
+[0.122s] Level 1:colcon.colcon_core.package_identification:_identify(src/skylink_bridge_python) by extension 'ignore_ament_install'
+[0.122s] Level 1:colcon.colcon_core.package_identification:_identify(src/skylink_bridge_python) by extensions ['colcon_pkg']
+[0.122s] Level 1:colcon.colcon_core.package_identification:_identify(src/skylink_bridge_python) by extension 'colcon_pkg'
+[0.122s] Level 1:colcon.colcon_core.package_identification:_identify(src/skylink_bridge_python) by extensions ['colcon_meta']
+[0.122s] Level 1:colcon.colcon_core.package_identification:_identify(src/skylink_bridge_python) by extension 'colcon_meta'
+[0.122s] Level 1:colcon.colcon_core.package_identification:_identify(src/skylink_bridge_python) by extensions ['ros']
+[0.122s] Level 1:colcon.colcon_core.package_identification:_identify(src/skylink_bridge_python) by extension 'ros'
+[0.123s] DEBUG:colcon.colcon_core.package_identification:Package 'src/skylink_bridge_python' with type 'ros.ament_python' and name 'skylink_bridge_python'
+[0.123s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) using defaults
+[0.123s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) discover
+[0.123s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) using defaults
+[0.123s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) discover
+[0.123s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) using defaults
+[0.137s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) check parameters
+[0.137s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) discover
+[0.138s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 281 installed packages in /opt/ros/humble
+[0.139s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) using defaults
+[0.154s] Level 5:colcon.colcon_core.verb:set package 'skylink_bridge_python' build argument 'cmake_args' from command line to '['-DCMAKE_BUILD_TYPE=Release']'
+[0.154s] Level 5:colcon.colcon_core.verb:set package 'skylink_bridge_python' build argument 'cmake_target' from command line to 'None'
+[0.154s] Level 5:colcon.colcon_core.verb:set package 'skylink_bridge_python' build argument 'cmake_target_skip_unavailable' from command line to 'False'
+[0.154s] Level 5:colcon.colcon_core.verb:set package 'skylink_bridge_python' build argument 'cmake_clean_cache' from command line to 'False'
+[0.154s] Level 5:colcon.colcon_core.verb:set package 'skylink_bridge_python' build argument 'cmake_clean_first' from command line to 'False'
+[0.154s] Level 5:colcon.colcon_core.verb:set package 'skylink_bridge_python' build argument 'cmake_force_configure' from command line to 'False'
+[0.154s] Level 5:colcon.colcon_core.verb:set package 'skylink_bridge_python' build argument 'ament_cmake_args' from command line to 'None'
+[0.154s] Level 5:colcon.colcon_core.verb:set package 'skylink_bridge_python' build argument 'catkin_cmake_args' from command line to 'None'
+[0.154s] Level 5:colcon.colcon_core.verb:set package 'skylink_bridge_python' build argument 'catkin_skip_building_tests' from command line to 'False'
+[0.154s] DEBUG:colcon.colcon_core.verb:Building package 'skylink_bridge_python' with the following arguments: {'ament_cmake_args': None, 'build_base': '/home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python', 'catkin_cmake_args': None, 'catkin_skip_building_tests': False, 'cmake_args': ['-DCMAKE_BUILD_TYPE=Release'], 'cmake_clean_cache': False, 'cmake_clean_first': False, 'cmake_force_configure': False, 'cmake_target': None, 'cmake_target_skip_unavailable': False, 'install_base': '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python', 'merge_install': False, 'path': '/home/flower/code/camera/flyLink/skylink_ros2_ws/src/skylink_bridge_python', 'symlink_install': True, 'test_result_base': None}
+[0.154s] INFO:colcon.colcon_core.executor:Executing jobs using 'parallel' executor
+[0.155s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete
+[0.155s] INFO:colcon.colcon_ros.task.ament_python.build:Building ROS package in '/home/flower/code/camera/flyLink/skylink_ros2_ws/src/skylink_bridge_python' with build type 'ament_python'
+[0.155s] Level 1:colcon.colcon_core.shell:create_environment_hook('skylink_bridge_python', 'ament_prefix_path')
+[0.156s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_core.shell.bat': Not used on non-Windows systems
+[0.156s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/share/skylink_bridge_python/hook/ament_prefix_path.ps1'
+[0.156s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/share/skylink_bridge_python/hook/ament_prefix_path.dsv'
+[0.157s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/share/skylink_bridge_python/hook/ament_prefix_path.sh'
+[0.157s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[0.157s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[0.270s] INFO:colcon.colcon_core.task.python.build:Building Python package in '/home/flower/code/camera/flyLink/skylink_ros2_ws/src/skylink_bridge_python'
+[0.270s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[0.271s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[0.415s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python': PYTHONPATH=/home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py develop --editable --build-directory /home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python/build --no-deps symlink_data
+[0.607s] Level 1:colcon.colcon_core.shell:create_environment_hook('skylink_bridge_python', 'pythonpath_develop')
+[0.607s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python/share/skylink_bridge_python/hook/pythonpath_develop.ps1'
+[0.608s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python' returned '0': PYTHONPATH=/home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py develop --editable --build-directory /home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python/build --no-deps symlink_data
+[0.608s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python/share/skylink_bridge_python/hook/pythonpath_develop.dsv'
+[0.608s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python/share/skylink_bridge_python/hook/pythonpath_develop.sh'
+[0.609s] Level 1:colcon.colcon_core.environment:checking '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python' for CMake module files
+[0.609s] Level 1:colcon.colcon_core.environment:checking '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python' for CMake config files
+[0.609s] Level 1:colcon.colcon_core.environment:checking '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/lib'
+[0.609s] Level 1:colcon.colcon_core.environment:checking '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/bin'
+[0.610s] Level 1:colcon.colcon_core.environment:checking '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/lib/pkgconfig/skylink_bridge_python.pc'
+[0.610s] Level 1:colcon.colcon_core.environment:checking '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/lib/python3.10/site-packages'
+[0.610s] Level 1:colcon.colcon_core.shell:create_environment_hook('skylink_bridge_python', 'pythonpath')
+[0.610s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/share/skylink_bridge_python/hook/pythonpath.ps1'
+[0.610s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/share/skylink_bridge_python/hook/pythonpath.dsv'
+[0.610s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/share/skylink_bridge_python/hook/pythonpath.sh'
+[0.610s] Level 1:colcon.colcon_core.environment:checking '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/bin'
+[0.610s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(skylink_bridge_python)
+[0.611s] INFO:colcon.colcon_core.shell:Creating package script '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/share/skylink_bridge_python/package.ps1'
+[0.611s] INFO:colcon.colcon_core.shell:Creating package descriptor '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/share/skylink_bridge_python/package.dsv'
+[0.611s] INFO:colcon.colcon_core.shell:Creating package script '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/share/skylink_bridge_python/package.sh'
+[0.611s] INFO:colcon.colcon_core.shell:Creating package script '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/share/skylink_bridge_python/package.bash'
+[0.612s] INFO:colcon.colcon_core.shell:Creating package script '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/share/skylink_bridge_python/package.zsh'
+[0.612s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/share/colcon-core/packages/skylink_bridge_python)
+[0.612s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:closing loop
+[0.612s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:loop closed
+[0.612s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete finished with '0'
+[0.612s] DEBUG:colcon.colcon_core.event_reactor:joining thread
+[0.615s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.terminal_notifier': Not used on non-Darwin systems
+[0.615s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.win32': Not used on non-Windows systems
+[0.615s] INFO:colcon.colcon_notification.desktop_notification:Sending desktop notification using 'notify2'
+[0.622s] DEBUG:colcon.colcon_core.event_reactor:joined thread
+[0.622s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/local_setup.ps1'
+[0.622s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/_local_setup_util_ps1.py'
+[0.623s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/setup.ps1'
+[0.623s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/local_setup.sh'
+[0.623s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/_local_setup_util_sh.py'
+[0.624s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/setup.sh'
+[0.624s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/local_setup.bash'
+[0.624s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/setup.bash'
+[0.625s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/local_setup.zsh'
+[0.625s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/setup.zsh'

skylink_ros2_ws/log/build_2026-02-02_14-07-50/skylink_bridge_python/command.log

@@ -0,0 +1,2 @@
+Invoking command in '/home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python': PYTHONPATH=/home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py develop --editable --build-directory /home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python/build --no-deps symlink_data
+Invoked command in '/home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python' returned '0': PYTHONPATH=/home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py develop --editable --build-directory /home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python/build --no-deps symlink_data

skylink_ros2_ws/log/build_2026-02-02_14-07-50/skylink_bridge_python/stdout.log

@@ -0,0 +1,15 @@
+running develop
+running egg_info
+writing skylink_bridge_python.egg-info/PKG-INFO
+writing dependency_links to skylink_bridge_python.egg-info/dependency_links.txt
+writing entry points to skylink_bridge_python.egg-info/entry_points.txt
+writing requirements to skylink_bridge_python.egg-info/requires.txt
+writing top-level names to skylink_bridge_python.egg-info/top_level.txt
+reading manifest file 'skylink_bridge_python.egg-info/SOURCES.txt'
+writing manifest file 'skylink_bridge_python.egg-info/SOURCES.txt'
+running build_ext
+Creating /home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/lib/python3.10/site-packages/skylink-bridge-python.egg-link (link to .)
+Installing camera_driver_node script to /home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/lib/skylink_bridge_python
+
+Installed /home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python
+running symlink_data

skylink_ros2_ws/log/build_2026-02-02_14-07-50/skylink_bridge_python/stdout_stderr.log

@@ -0,0 +1,15 @@
+running develop
+running egg_info
+writing skylink_bridge_python.egg-info/PKG-INFO
+writing dependency_links to skylink_bridge_python.egg-info/dependency_links.txt
+writing entry points to skylink_bridge_python.egg-info/entry_points.txt
+writing requirements to skylink_bridge_python.egg-info/requires.txt
+writing top-level names to skylink_bridge_python.egg-info/top_level.txt
+reading manifest file 'skylink_bridge_python.egg-info/SOURCES.txt'
+writing manifest file 'skylink_bridge_python.egg-info/SOURCES.txt'
+running build_ext
+Creating /home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/lib/python3.10/site-packages/skylink-bridge-python.egg-link (link to .)
+Installing camera_driver_node script to /home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/lib/skylink_bridge_python
+
+Installed /home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python
+running symlink_data

skylink_ros2_ws/log/build_2026-02-02_14-07-50/skylink_bridge_python/streams.log

@@ -0,0 +1,17 @@
+[0.260s] Invoking command in '/home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python': PYTHONPATH=/home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py develop --editable --build-directory /home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python/build --no-deps symlink_data
+[0.374s] running develop
+[0.439s] running egg_info
+[0.439s] writing skylink_bridge_python.egg-info/PKG-INFO
+[0.439s] writing dependency_links to skylink_bridge_python.egg-info/dependency_links.txt
+[0.439s] writing entry points to skylink_bridge_python.egg-info/entry_points.txt
+[0.439s] writing requirements to skylink_bridge_python.egg-info/requires.txt
+[0.439s] writing top-level names to skylink_bridge_python.egg-info/top_level.txt
+[0.440s] reading manifest file 'skylink_bridge_python.egg-info/SOURCES.txt'
+[0.440s] writing manifest file 'skylink_bridge_python.egg-info/SOURCES.txt'
+[0.441s] running build_ext
+[0.441s] Creating /home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/lib/python3.10/site-packages/skylink-bridge-python.egg-link (link to .)
+[0.441s] Installing camera_driver_node script to /home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/lib/skylink_bridge_python
+[0.441s] 
+[0.441s] Installed /home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python
+[0.441s] running symlink_data
+[0.452s] Invoked command in '/home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python' returned '0': PYTHONPATH=/home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py develop --editable --build-directory /home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python/build --no-deps symlink_data

skylink_ros2_ws/log/build_2026-02-02_14-25-15/logger_all.log

@@ -0,0 +1,145 @@
+[0.046s] DEBUG:colcon:Command line arguments: ['/usr/bin/colcon', 'build', '--symlink-install', '--cmake-args', '-DCMAKE_BUILD_TYPE=Release']
+[0.046s] DEBUG:colcon:Parsed command line arguments: Namespace(log_base=None, log_level=None, verb_name='build', build_base='build', install_base='install', merge_install=False, symlink_install=True, test_result_base=None, continue_on_error=False, executor='parallel', parallel_workers=24, event_handlers=None, ignore_user_meta=False, metas=['./colcon.meta'], base_paths=['.'], packages_ignore=None, packages_ignore_regex=None, paths=None, packages_up_to=None, packages_up_to_regex=None, packages_above=None, packages_above_and_dependencies=None, packages_above_depth=None, packages_select_by_dep=None, packages_skip_by_dep=None, packages_skip_up_to=None, packages_select_build_failed=False, packages_skip_build_finished=False, packages_select_test_failures=False, packages_skip_test_passed=False, packages_select=None, packages_skip=None, packages_select_regex=None, packages_skip_regex=None, packages_start=None, packages_end=None, allow_overriding=[], cmake_args=['-DCMAKE_BUILD_TYPE=Release'], cmake_target=None, cmake_target_skip_unavailable=False, cmake_clean_cache=False, cmake_clean_first=False, cmake_force_configure=False, ament_cmake_args=None, catkin_cmake_args=None, catkin_skip_building_tests=False, verb_parser=<colcon_defaults.argument_parser.defaults.DefaultArgumentsDecorator object at 0x7f4f84a37ee0>, verb_extension=<colcon_core.verb.build.BuildVerb object at 0x7f4f84a36ec0>, main=<bound method BuildVerb.main of <colcon_core.verb.build.BuildVerb object at 0x7f4f84a36ec0>>)
+[0.118s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) check parameters
+[0.118s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) check parameters
+[0.118s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) check parameters
+[0.118s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) check parameters
+[0.118s] Level 1:colcon.colcon_core.package_discovery:discover_packages(colcon_meta) discover
+[0.118s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) discover
+[0.118s] INFO:colcon.colcon_core.package_discovery:Crawling recursively for packages in '/home/flower/code/camera/flyLink/skylink_ros2_ws'
+[0.118s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ignore', 'ignore_ament_install']
+[0.118s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore'
+[0.118s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ignore_ament_install'
+[0.118s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_pkg']
+[0.118s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_pkg'
+[0.118s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['colcon_meta']
+[0.118s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'colcon_meta'
+[0.118s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['ros']
+[0.118s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'ros'
+[0.123s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['cmake', 'python']
+[0.123s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'cmake'
+[0.123s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python'
+[0.123s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extensions ['python_setup_py']
+[0.123s] Level 1:colcon.colcon_core.package_identification:_identify(.) by extension 'python_setup_py'
+[0.123s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extensions ['ignore', 'ignore_ament_install']
+[0.123s] Level 1:colcon.colcon_core.package_identification:_identify(build) by extension 'ignore'
+[0.123s] Level 1:colcon.colcon_core.package_identification:_identify(build) ignored
+[0.123s] Level 1:colcon.colcon_core.package_identification:_identify(camera_data) by extensions ['ignore', 'ignore_ament_install']
+[0.123s] Level 1:colcon.colcon_core.package_identification:_identify(camera_data) by extension 'ignore'
+[0.123s] Level 1:colcon.colcon_core.package_identification:_identify(camera_data) by extension 'ignore_ament_install'
+[0.123s] Level 1:colcon.colcon_core.package_identification:_identify(camera_data) by extensions ['colcon_pkg']
+[0.123s] Level 1:colcon.colcon_core.package_identification:_identify(camera_data) by extension 'colcon_pkg'
+[0.123s] Level 1:colcon.colcon_core.package_identification:_identify(camera_data) by extensions ['colcon_meta']
+[0.123s] Level 1:colcon.colcon_core.package_identification:_identify(camera_data) by extension 'colcon_meta'
+[0.123s] Level 1:colcon.colcon_core.package_identification:_identify(camera_data) by extensions ['ros']
+[0.123s] Level 1:colcon.colcon_core.package_identification:_identify(camera_data) by extension 'ros'
+[0.123s] Level 1:colcon.colcon_core.package_identification:_identify(camera_data) by extensions ['cmake', 'python']
+[0.123s] Level 1:colcon.colcon_core.package_identification:_identify(camera_data) by extension 'cmake'
+[0.123s] Level 1:colcon.colcon_core.package_identification:_identify(camera_data) by extension 'python'
+[0.123s] Level 1:colcon.colcon_core.package_identification:_identify(camera_data) by extensions ['python_setup_py']
+[0.123s] Level 1:colcon.colcon_core.package_identification:_identify(camera_data) by extension 'python_setup_py'
+[0.123s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extensions ['ignore', 'ignore_ament_install']
+[0.124s] Level 1:colcon.colcon_core.package_identification:_identify(install) by extension 'ignore'
+[0.124s] Level 1:colcon.colcon_core.package_identification:_identify(install) ignored
+[0.124s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extensions ['ignore', 'ignore_ament_install']
+[0.124s] Level 1:colcon.colcon_core.package_identification:_identify(log) by extension 'ignore'
+[0.124s] Level 1:colcon.colcon_core.package_identification:_identify(log) ignored
+[0.124s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['ignore', 'ignore_ament_install']
+[0.124s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ignore'
+[0.124s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ignore_ament_install'
+[0.124s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['colcon_pkg']
+[0.124s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'colcon_pkg'
+[0.124s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['colcon_meta']
+[0.124s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'colcon_meta'
+[0.124s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['ros']
+[0.124s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'ros'
+[0.124s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['cmake', 'python']
+[0.124s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'cmake'
+[0.124s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'python'
+[0.124s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extensions ['python_setup_py']
+[0.124s] Level 1:colcon.colcon_core.package_identification:_identify(src) by extension 'python_setup_py'
+[0.124s] Level 1:colcon.colcon_core.package_identification:_identify(src/skylink_bridge_python) by extensions ['ignore', 'ignore_ament_install']
+[0.124s] Level 1:colcon.colcon_core.package_identification:_identify(src/skylink_bridge_python) by extension 'ignore'
+[0.124s] Level 1:colcon.colcon_core.package_identification:_identify(src/skylink_bridge_python) by extension 'ignore_ament_install'
+[0.124s] Level 1:colcon.colcon_core.package_identification:_identify(src/skylink_bridge_python) by extensions ['colcon_pkg']
+[0.124s] Level 1:colcon.colcon_core.package_identification:_identify(src/skylink_bridge_python) by extension 'colcon_pkg'
+[0.124s] Level 1:colcon.colcon_core.package_identification:_identify(src/skylink_bridge_python) by extensions ['colcon_meta']
+[0.124s] Level 1:colcon.colcon_core.package_identification:_identify(src/skylink_bridge_python) by extension 'colcon_meta'
+[0.124s] Level 1:colcon.colcon_core.package_identification:_identify(src/skylink_bridge_python) by extensions ['ros']
+[0.124s] Level 1:colcon.colcon_core.package_identification:_identify(src/skylink_bridge_python) by extension 'ros'
+[0.125s] DEBUG:colcon.colcon_core.package_identification:Package 'src/skylink_bridge_python' with type 'ros.ament_python' and name 'skylink_bridge_python'
+[0.125s] Level 1:colcon.colcon_core.package_discovery:discover_packages(recursive) using defaults
+[0.125s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) discover
+[0.125s] Level 1:colcon.colcon_core.package_discovery:discover_packages(ignore) using defaults
+[0.125s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) discover
+[0.125s] Level 1:colcon.colcon_core.package_discovery:discover_packages(path) using defaults
+[0.139s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) check parameters
+[0.139s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) discover
+[0.139s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 1 installed packages in /home/flower/code/camera/flyLink/skylink_ros2_ws/install
+[0.140s] DEBUG:colcon.colcon_installed_package_information.package_discovery:Found 281 installed packages in /opt/ros/humble
+[0.141s] Level 1:colcon.colcon_core.package_discovery:discover_packages(prefix_path) using defaults
+[0.156s] Level 5:colcon.colcon_core.verb:set package 'skylink_bridge_python' build argument 'cmake_args' from command line to '['-DCMAKE_BUILD_TYPE=Release']'
+[0.156s] Level 5:colcon.colcon_core.verb:set package 'skylink_bridge_python' build argument 'cmake_target' from command line to 'None'
+[0.156s] Level 5:colcon.colcon_core.verb:set package 'skylink_bridge_python' build argument 'cmake_target_skip_unavailable' from command line to 'False'
+[0.156s] Level 5:colcon.colcon_core.verb:set package 'skylink_bridge_python' build argument 'cmake_clean_cache' from command line to 'False'
+[0.156s] Level 5:colcon.colcon_core.verb:set package 'skylink_bridge_python' build argument 'cmake_clean_first' from command line to 'False'
+[0.156s] Level 5:colcon.colcon_core.verb:set package 'skylink_bridge_python' build argument 'cmake_force_configure' from command line to 'False'
+[0.156s] Level 5:colcon.colcon_core.verb:set package 'skylink_bridge_python' build argument 'ament_cmake_args' from command line to 'None'
+[0.156s] Level 5:colcon.colcon_core.verb:set package 'skylink_bridge_python' build argument 'catkin_cmake_args' from command line to 'None'
+[0.156s] Level 5:colcon.colcon_core.verb:set package 'skylink_bridge_python' build argument 'catkin_skip_building_tests' from command line to 'False'
+[0.156s] DEBUG:colcon.colcon_core.verb:Building package 'skylink_bridge_python' with the following arguments: {'ament_cmake_args': None, 'build_base': '/home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python', 'catkin_cmake_args': None, 'catkin_skip_building_tests': False, 'cmake_args': ['-DCMAKE_BUILD_TYPE=Release'], 'cmake_clean_cache': False, 'cmake_clean_first': False, 'cmake_force_configure': False, 'cmake_target': None, 'cmake_target_skip_unavailable': False, 'install_base': '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python', 'merge_install': False, 'path': '/home/flower/code/camera/flyLink/skylink_ros2_ws/src/skylink_bridge_python', 'symlink_install': True, 'test_result_base': None}
+[0.156s] INFO:colcon.colcon_core.executor:Executing jobs using 'parallel' executor
+[0.157s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete
+[0.157s] INFO:colcon.colcon_ros.task.ament_python.build:Building ROS package in '/home/flower/code/camera/flyLink/skylink_ros2_ws/src/skylink_bridge_python' with build type 'ament_python'
+[0.157s] Level 1:colcon.colcon_core.shell:create_environment_hook('skylink_bridge_python', 'ament_prefix_path')
+[0.158s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_core.shell.bat': Not used on non-Windows systems
+[0.158s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/share/skylink_bridge_python/hook/ament_prefix_path.ps1'
+[0.158s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/share/skylink_bridge_python/hook/ament_prefix_path.dsv'
+[0.158s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/share/skylink_bridge_python/hook/ament_prefix_path.sh'
+[0.159s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[0.159s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[0.272s] INFO:colcon.colcon_core.task.python.build:Building Python package in '/home/flower/code/camera/flyLink/skylink_ros2_ws/src/skylink_bridge_python'
+[0.272s] INFO:colcon.colcon_core.shell:Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[0.272s] DEBUG:colcon.colcon_core.shell:Skip shell extension 'dsv' for command environment
+[0.419s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoking command in '/home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python': PYTHONPATH=/home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py develop --editable --build-directory /home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python/build --no-deps symlink_data
+[0.614s] Level 1:colcon.colcon_core.shell:create_environment_hook('skylink_bridge_python', 'pythonpath_develop')
+[0.614s] DEBUG:colcon.colcon_core.event_handler.log_command:Invoked command in '/home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python' returned '0': PYTHONPATH=/home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py develop --editable --build-directory /home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python/build --no-deps symlink_data
+[0.615s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python/share/skylink_bridge_python/hook/pythonpath_develop.ps1'
+[0.615s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python/share/skylink_bridge_python/hook/pythonpath_develop.dsv'
+[0.615s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python/share/skylink_bridge_python/hook/pythonpath_develop.sh'
+[0.617s] Level 1:colcon.colcon_core.environment:checking '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python' for CMake module files
+[0.617s] Level 1:colcon.colcon_core.environment:checking '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python' for CMake config files
+[0.618s] Level 1:colcon.colcon_core.environment:checking '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/lib'
+[0.618s] Level 1:colcon.colcon_core.environment:checking '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/bin'
+[0.618s] Level 1:colcon.colcon_core.environment:checking '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/lib/pkgconfig/skylink_bridge_python.pc'
+[0.618s] Level 1:colcon.colcon_core.environment:checking '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/lib/python3.10/site-packages'
+[0.618s] Level 1:colcon.colcon_core.shell:create_environment_hook('skylink_bridge_python', 'pythonpath')
+[0.618s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/share/skylink_bridge_python/hook/pythonpath.ps1'
+[0.618s] INFO:colcon.colcon_core.shell:Creating environment descriptor '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/share/skylink_bridge_python/hook/pythonpath.dsv'
+[0.619s] INFO:colcon.colcon_core.shell:Creating environment hook '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/share/skylink_bridge_python/hook/pythonpath.sh'
+[0.619s] Level 1:colcon.colcon_core.environment:checking '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/bin'
+[0.619s] Level 1:colcon.colcon_core.environment:create_environment_scripts_only(skylink_bridge_python)
+[0.619s] INFO:colcon.colcon_core.shell:Creating package script '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/share/skylink_bridge_python/package.ps1'
+[0.620s] INFO:colcon.colcon_core.shell:Creating package descriptor '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/share/skylink_bridge_python/package.dsv'
+[0.620s] INFO:colcon.colcon_core.shell:Creating package script '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/share/skylink_bridge_python/package.sh'
+[0.620s] INFO:colcon.colcon_core.shell:Creating package script '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/share/skylink_bridge_python/package.bash'
+[0.620s] INFO:colcon.colcon_core.shell:Creating package script '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/share/skylink_bridge_python/package.zsh'
+[0.621s] Level 1:colcon.colcon_core.environment:create_file_with_runtime_dependencies(/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/share/colcon-core/packages/skylink_bridge_python)
+[0.621s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:closing loop
+[0.621s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:loop closed
+[0.621s] DEBUG:colcon.colcon_parallel_executor.executor.parallel:run_until_complete finished with '0'
+[0.621s] DEBUG:colcon.colcon_core.event_reactor:joining thread
+[0.623s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.terminal_notifier': Not used on non-Darwin systems
+[0.623s] INFO:colcon.colcon_core.plugin_system:Skipping extension 'colcon_notification.desktop_notification.win32': Not used on non-Windows systems
+[0.623s] INFO:colcon.colcon_notification.desktop_notification:Sending desktop notification using 'notify2'
+[0.629s] DEBUG:colcon.colcon_core.event_reactor:joined thread
+[0.629s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/local_setup.ps1'
+[0.630s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/_local_setup_util_ps1.py'
+[0.630s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/setup.ps1'
+[0.631s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/local_setup.sh'
+[0.631s] INFO:colcon.colcon_core.shell:Creating prefix util module '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/_local_setup_util_sh.py'
+[0.631s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/setup.sh'
+[0.631s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/local_setup.bash'
+[0.632s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/setup.bash'
+[0.632s] INFO:colcon.colcon_core.shell:Creating prefix script '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/local_setup.zsh'
+[0.632s] INFO:colcon.colcon_core.shell:Creating prefix chain script '/home/flower/code/camera/flyLink/skylink_ros2_ws/install/setup.zsh'

skylink_ros2_ws/log/build_2026-02-02_14-25-15/skylink_bridge_python/command.log

@@ -0,0 +1,2 @@
+Invoking command in '/home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python': PYTHONPATH=/home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py develop --editable --build-directory /home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python/build --no-deps symlink_data
+Invoked command in '/home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python' returned '0': PYTHONPATH=/home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py develop --editable --build-directory /home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python/build --no-deps symlink_data

skylink_ros2_ws/log/build_2026-02-02_14-25-15/skylink_bridge_python/stdout.log

@@ -0,0 +1,15 @@
+running develop
+running egg_info
+writing skylink_bridge_python.egg-info/PKG-INFO
+writing dependency_links to skylink_bridge_python.egg-info/dependency_links.txt
+writing entry points to skylink_bridge_python.egg-info/entry_points.txt
+writing requirements to skylink_bridge_python.egg-info/requires.txt
+writing top-level names to skylink_bridge_python.egg-info/top_level.txt
+reading manifest file 'skylink_bridge_python.egg-info/SOURCES.txt'
+writing manifest file 'skylink_bridge_python.egg-info/SOURCES.txt'
+running build_ext
+Creating /home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/lib/python3.10/site-packages/skylink-bridge-python.egg-link (link to .)
+Installing camera_driver_node script to /home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/lib/skylink_bridge_python
+
+Installed /home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python
+running symlink_data

skylink_ros2_ws/log/build_2026-02-02_14-25-15/skylink_bridge_python/stdout_stderr.log

@@ -0,0 +1,15 @@
+running develop
+running egg_info
+writing skylink_bridge_python.egg-info/PKG-INFO
+writing dependency_links to skylink_bridge_python.egg-info/dependency_links.txt
+writing entry points to skylink_bridge_python.egg-info/entry_points.txt
+writing requirements to skylink_bridge_python.egg-info/requires.txt
+writing top-level names to skylink_bridge_python.egg-info/top_level.txt
+reading manifest file 'skylink_bridge_python.egg-info/SOURCES.txt'
+writing manifest file 'skylink_bridge_python.egg-info/SOURCES.txt'
+running build_ext
+Creating /home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/lib/python3.10/site-packages/skylink-bridge-python.egg-link (link to .)
+Installing camera_driver_node script to /home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/lib/skylink_bridge_python
+
+Installed /home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python
+running symlink_data

skylink_ros2_ws/log/build_2026-02-02_14-25-15/skylink_bridge_python/streams.log

@@ -0,0 +1,17 @@
+[0.262s] Invoking command in '/home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python': PYTHONPATH=/home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py develop --editable --build-directory /home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python/build --no-deps symlink_data
+[0.378s] running develop
+[0.444s] running egg_info
+[0.444s] writing skylink_bridge_python.egg-info/PKG-INFO
+[0.444s] writing dependency_links to skylink_bridge_python.egg-info/dependency_links.txt
+[0.444s] writing entry points to skylink_bridge_python.egg-info/entry_points.txt
+[0.444s] writing requirements to skylink_bridge_python.egg-info/requires.txt
+[0.444s] writing top-level names to skylink_bridge_python.egg-info/top_level.txt
+[0.445s] reading manifest file 'skylink_bridge_python.egg-info/SOURCES.txt'
+[0.445s] writing manifest file 'skylink_bridge_python.egg-info/SOURCES.txt'
+[0.446s] running build_ext
+[0.446s] Creating /home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/lib/python3.10/site-packages/skylink-bridge-python.egg-link (link to .)
+[0.446s] Installing camera_driver_node script to /home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/lib/skylink_bridge_python
+[0.446s] 
+[0.446s] Installed /home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python
+[0.446s] running symlink_data
+[0.457s] Invoked command in '/home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python' returned '0': PYTHONPATH=/home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python/prefix_override:/usr/lib/python3/dist-packages/colcon_core/task/python/colcon_distutils_commands:/home/flower/code/camera/flyLink/skylink_ros2_ws/install/skylink_bridge_python/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 -W ignore:setup.py install is deprecated -W ignore:easy_install command is deprecated setup.py develop --editable --build-directory /home/flower/code/camera/flyLink/skylink_ros2_ws/build/skylink_bridge_python/build --no-deps symlink_data

skylink_ros2_ws/log/latest

@@ -0,0 +1 @@
+latest_build

skylink_ros2_ws/log/latest_build

@@ -0,0 +1 @@
+build_2026-02-02_14-25-15

skylink_ros2_ws/src/skylink_bridge/CMakeLists.txt

@@ -1,156 +0,0 @@
-cmake_minimum_required(VERSION 3.16)
-project(skylink_bridge LANGUAGES CXX)
-
-# ============================================================================
-# 编译标准和优化选项
-# ============================================================================
-
-set(CMAKE_CXX_STANDARD 17)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra")
-
-# 如果未指定编译类型，默认为 Release
-if(NOT CMAKE_BUILD_TYPE)
-  set(CMAKE_BUILD_TYPE Release CACHE STRING "Build type" FORCE)
-endif()
-
-# ============================================================================
-# 查找依赖
-# ============================================================================
-
-find_package(ament_cmake REQUIRED)
-find_package(rclcpp REQUIRED)
-find_package(sensor_msgs REQUIRED)
-find_package(geometry_msgs REQUIRED)
-find_package(cv_bridge REQUIRED)
-find_package(image_transport REQUIRED)
-find_package(mavros_msgs REQUIRED)
-
-# OpenCV
-find_package(OpenCV REQUIRED COMPONENTS core imgproc)
-
-# JPEG 库
-find_package(JPEG REQUIRED)
-
-# 线程库
-find_package(Threads REQUIRED)
-
-# ============================================================================
-# 包含目录
-# ============================================================================
-
-include_directories(
-  include
-)
-
-# ============================================================================
-# 源文件
-# ============================================================================
-
-set(SOURCES
-  src/udp_sender_node.cpp
-  src/camera_driver_node.cpp
-  src/device_info_sender_node.cpp
-)
-
-set(HEADERS
-  include/skylink_bridge/udp_sender_node.h
-  include/skylink_bridge/device_info_sender_node.h
-  include/protocol.h
-)
-
-# ============================================================================
-# 创建节点可执行文件
-# ============================================================================
-
-add_executable(udp_sender_node src/udp_sender_node.cpp ${HEADERS})
-add_executable(camera_driver_node src/camera_driver_node.cpp)
-add_executable(device_info_sender_node src/device_info_sender_node.cpp)
-
-# 链接库 - UDP Sender
-target_link_libraries(udp_sender_node
-  ${rclcpp_LIBRARIES}
-  ${sensor_msgs_LIBRARIES}
-  ${geometry_msgs_LIBRARIES}
-  ${cv_bridge_LIBRARIES}
-  ${image_transport_LIBRARIES}
-  ${mavros_msgs_LIBRARIES}
-  ${OpenCV_LIBRARIES}
-  ${JPEG_LIBRARIES}
-  Threads::Threads
-)
-
-# 链接库 - Camera Driver
-target_link_libraries(camera_driver_node
-  ${rclcpp_LIBRARIES}
-  ${sensor_msgs_LIBRARIES}
-  Threads::Threads
-)
-
-target_link_libraries(device_info_sender_node
-  ${rclcpp_LIBRARIES}
-  Threads::Threads
-)
-
-# 目标级别的包含目录
-ament_target_dependencies(udp_sender_node
-  rclcpp
-  sensor_msgs
-  geometry_msgs
-  cv_bridge
-  image_transport
-  mavros_msgs
-)
-
-ament_target_dependencies(camera_driver_node
-  rclcpp
-  sensor_msgs
-)
-
-ament_target_dependencies(device_info_sender_node
-  rclcpp
-)
-
-# ============================================================================
-# 安装规则
-# ============================================================================
-
-# 安装可执行文件
-install(TARGETS udp_sender_node camera_driver_node
-  DESTINATION lib/${PROJECT_NAME}
-)
-
-install(TARGETS device_info_sender_node
-  DESTINATION lib/${PROJECT_NAME}
-)
-
-# 安装启动文件
-install(DIRECTORY launch/
-  DESTINATION share/${PROJECT_NAME}/launch
-)
-
-# 安装配置文件
-install(DIRECTORY config/
-  DESTINATION share/${PROJECT_NAME}/config
-)
-
-# 安装头文件
-install(DIRECTORY include/
-  DESTINATION include
-)
-
-# ============================================================================
-# Ament 导出
-# ============================================================================
-
-ament_export_dependencies(
-  rclcpp
-  sensor_msgs
-  geometry_msgs
-  cv_bridge
-  image_transport
-  mavros_msgs
-  OpenCV
-)
-
-ament_package()

skylink_ros2_ws/src/skylink_bridge/include/protocol.h

@@ -1,171 +0,0 @@
-/**
- * @file protocol.h
- * @brief SkyLink 多平台实时视频传输 - 公共协议定义
- * 
- * 这个文件定义了机载端（ROS 2）、PC 端（Qt）和移动端（Android）之间的通信协议。
- * 必须保持三端的字节对齐和字段顺序一致。
- * 
- * @author flowzl
- * @date 2026-01-19
- */
-
-#pragma once
-
-#include <cstdint>
-#include <cstring>
-
-/**
- * @brief 强制1字节对齐，避免编译器补齐导致的大小差异
- */
-#pragma pack(push, 1)
-
-/**
- * @struct PacketHeader
- * @brief UDP 数据包头部结构
- * 
- * 总大小: 50 字节
- * - 报头识别: 2 字节 (Magic)
- * - 帧标识: 4 字节 (FrameID)
- * - 分片信息: 4 字节 (TotalChunks + ChunkIndex)
- * - 数据长度: 2 字节 (DataLen)
- * - 时间戳: 8 字节 (Timestamp)
- * - GPS 位置: 24 字节 (Lat, Lon, Alt)
- * - 预留: 6 字节 (Reserve 用于将来扩展)
- */
-struct PacketHeader {
-    // ============ 包头识别 ============
-    uint16_t magic;              ///< 魔数 0xAA55 用于识别合法数据包
-    
-    // ============ 帧标识 ============
-    uint32_t frame_id;           ///< 唯一的帧编号，从 0 开始递增，用于帧同步
-    
-    // ============ 分片信息 ============
-    uint16_t total_chunks;       ///< 该帧总共被分成多少个 UDP 包
-    uint16_t chunk_index;        ///< 当前数据包是第几个分片 (0-based)
-    
-    // ============ 载荷信息 ============
-    uint16_t data_len;           ///< 当前包的有效载荷长度（单位：字节）
-    
-    // ============ 时间戳 ============
-    double timestamp;            ///< GPS 时间戳 (秒数，Unix 时间 或 ROS 时间)
-    
-    // ============ GPS 位置数据 ============
-    double lat;                  ///< 纬度 (WGS84 坐标系)
-    double lon;                  ///< 经度 (WGS84 坐标系)
-    double alt;                  ///< 海拔高度 (米)
-    
-    // ============ 校验与预留 ============
-    uint16_t crc16;              ///< CRC16 校验码 (可选，当前未使用)
-    uint32_t reserve;            ///< 保留字段，用于将来的扩展
-    
-    /**
-     * @brief 获取包头大小（字节数）
-     * @return 包头固定大小：50 字节
-     */
-    static constexpr uint16_t size() {
-        return sizeof(PacketHeader);
-    }
-};
-
-/**
- * @brief 设备信息包头结构（UDP 10000）
- */
-struct DeviceInfoPacket {
-    uint16_t magic;        ///< 魔数 0xAA56
-    uint32_t sequence;     ///< 序列号
-    uint16_t width;        ///< 图像宽度
-    uint16_t height;       ///< 图像高度
-    float framerate;       ///< 帧率
-    uint32_t pixel_format; ///< 像素格式（FourCC）
-    char device_path[32];  ///< 设备路径（/dev/videoX）
-    char device_name[64];  ///< 设备名称
-    float current_fps;     ///< 当前实际 FPS
-    uint32_t total_frames; ///< 总帧数
-    uint64_t timestamp;    ///< 时间戳（毫秒）
-    uint16_t crc16;        ///< CRC 校验（可选）
-
-    static constexpr uint16_t size() {
-        return sizeof(DeviceInfoPacket);
-    }
-};
-
-/**
- * @brief 恢复默认的对齐方式
- */
-#pragma pack(pop)
-
-// ============================================================================
-// 协议常量定义
-// ============================================================================
-
-/** @brief 数据包魔数，用于识别合法的 SkyLink 数据包 */
-constexpr uint16_t SKYLINK_MAGIC = 0xAA55;
-
-/** @brief 设备信息魔数，用于识别设备信息数据包 */
-constexpr uint16_t DEVICE_INFO_MAGIC = 0xAA56;
-
-/** @brief 设备信息请求魔数，用于请求立即发送设备信息 */
-constexpr uint16_t DEVICE_INFO_REQUEST = 0xAA57;
-
-/** @brief 最大的单个 UDP 包大小 (包含报头) - MTU 1500 字节 */
-constexpr uint16_t MAX_UDP_PACKET_SIZE = 1472;  // 1500 - 20 (IP) - 8 (UDP)
-
-/** @brief 最大的载荷大小 */
-constexpr uint16_t MAX_PAYLOAD_SIZE = MAX_UDP_PACKET_SIZE - PacketHeader::size();
-
-/** @brief UDP 接收缓冲区大小 */
-constexpr uint32_t RX_BUFFER_SIZE = 65536;
-
-/** @brief 最大支持的分片数 */
-constexpr uint16_t MAX_CHUNKS = 1000;
-
-/** @brief 帧超时时间（毫秒），超过此时间的分片将被丢弃 */
-constexpr uint32_t FRAME_TIMEOUT_MS = 5000;
-
-// ============================================================================
-// 图像编码相关常量
-// ============================================================================
-
-/** @brief JPEG 图像格式 ID */
-constexpr uint8_t IMAGE_FORMAT_JPEG = 0x01;
-
-/** @brief JPEG 最大压缩质量 */
-constexpr uint8_t JPEG_MAX_QUALITY = 100;
-
-/** @brief JPEG 最小压缩质量 */
-constexpr uint8_t JPEG_MIN_QUALITY = 10;
-
-// ============================================================================
-// 辅助函数
-// ============================================================================
-
-/**
- * @brief 验证包头魔数是否合法
- * @param header 待验证的包头结构
- * @return 如果魔数为 0xAA55 返回 true，否则返回 false
- */
-inline bool isValidPacket(const PacketHeader& header) {
-    return header.magic == SKYLINK_MAGIC;
-}
-
-/**
- * @brief 计算 CRC16 校验码 (可选)
- * @param data 数据指针
- * @param len 数据长度
- * @return 16 位 CRC 校验结果
- */
-inline uint16_t crc16_ccitt(const uint8_t* data, uint16_t len) {
-    uint16_t crc = 0xFFFF;
-    for (uint16_t i = 0; i < len; i++) {
-        crc ^= (uint16_t)data[i] << 8;
-        for (int j = 0; j < 8; j++) {
-            if (crc & 0x8000) {
-                crc = (crc << 1) ^ 0x1021;
-            } else {
-                crc = crc << 1;
-            }
-            crc &= 0xFFFF;
-        }
-    }
-    return crc;
-}

skylink_ros2_ws/src/skylink_bridge/include/skylink_bridge/device_info_sender_node.h

@@ -1,58 +0,0 @@
-#pragma once
-
-#include <rclcpp/rclcpp.hpp>
-#include <atomic>
-#include <netinet/in.h>
-#include <string>
-#include <thread>
-
-#include "protocol.h"
-
-/**
- * @brief 设备信息发送节点
- *
- * 通过 UDP 端口 10000 定期广播设备信息，并响应请求包（DEVICE_INFO_REQUEST）。
- */
-class DeviceInfoSenderNode : public rclcpp::Node {
-public:
-    DeviceInfoSenderNode();
-    ~DeviceInfoSenderNode();
-
-private:
-    void load_parameters();
-    void start_listener();
-    void stop_listener();
-
-    void broadcast_timer_callback();
-    void handle_request_loop();
-    void send_device_info(const sockaddr_in& addr);
-    DeviceInfoPacket build_packet();
-    static uint64_t htonll(uint64_t value);
-    static uint32_t fourcc_from_string(const std::string& fmt);
-
-private:
-    // 套接字
-    int udp_socket_{-1};
-    std::atomic<bool> running_{false};
-    std::thread listener_thread_;
-
-    // 参数
-    uint16_t info_port_{10000};
-    std::string target_ip_{"255.255.255.255"};
-    bool enable_broadcast_{true};
-    bool enable_request_response_{true};
-    int broadcast_interval_ms_{1000};
-
-    // 设备信息
-    std::string device_path_{"/dev/video0"};
-    std::string device_name_{"Unknown"};
-    uint16_t width_{0};
-    uint16_t height_{0};
-    float framerate_{0.0f};
-    uint32_t pixel_format_{0};
-    float current_fps_{0.0f};
-    uint32_t total_frames_{0};
-    uint32_t sequence_{0};
-
-    rclcpp::TimerBase::SharedPtr broadcast_timer_;
-};

skylink_ros2_ws/src/skylink_bridge/include/skylink_bridge/udp_sender_node.h

@@ -1,237 +0,0 @@
-/**
- * @file udp_sender_node.hpp
- * @brief SkyLink ROS 2 UDP 发送节点 - 头文件
- * 
- * 这个节点订阅相机和 GPS Topic，将图像编码为 JPEG 并通过 UDP 广播发送。
- * 
- * @author flowzl
- * @date 2026-01-19
- */
-
-#pragma once
-
-#include <rclcpp/rclcpp.hpp>
-#include <sensor_msgs/msg/compressed_image.hpp>
-#include <geometry_msgs/msg/twist.hpp>
-#include <mavros_msgs/msg/global_position_target.hpp>
-#include <sensor_msgs/msg/nav_sat_fix.hpp>
-#include <cv_bridge/cv_bridge.h>
-#include <opencv2/opencv.hpp>
-#include <vector>
-#include <queue>
-#include <mutex>
-#include <condition_variable>
-#include <thread>
-#include <atomic>
-#include <cstring>
-
-// 协议定义
-#include "protocol.h"
-
-/**
- * @class UdpSenderNode
- * @brief ROS 2 UDP 发送节点
- * 
- * 负责：
- * 1. 订阅相机和 GPS 数据
- * 2. 编码图像为 JPEG
- * 3. 分片打包为 UDP 数据包
- * 4. 通过网络发送数据包
- */
-class UdpSenderNode : public rclcpp::Node {
-public:
-    /**
-     * @brief 构造函数
-     */
-    UdpSenderNode();
-    
-    /**
-     * @brief 析构函数
-     */
-    ~UdpSenderNode();
-    
-private:
-    // ========================================================================
-    // ROS 2 订阅和发布
-    // ========================================================================
-    
-    /** 相机图像订阅 */
-    rclcpp::Subscription<sensor_msgs::msg::CompressedImage>::SharedPtr camera_subscriber_;
-    
-    /** GPS 全球位置订阅 */
-    rclcpp::Subscription<sensor_msgs::msg::NavSatFix>::SharedPtr gps_subscriber_;
-    
-    // ========================================================================
-    // 参数
-    // ========================================================================
-    
-    std::string target_ip_;           ///< 目标 IP 地址
-    uint16_t target_port_;            ///< 目标 UDP 端口
-    std::string camera_topic_;        ///< 相机 Topic 名称
-    std::string gps_topic_;           ///< GPS Topic 名称
-    int jpeg_quality_;                ///< JPEG 压缩质量 (1-100)
-    bool adaptive_quality_;           ///< 自适应质量标志
-    int quality_min_, quality_max_;   ///< 质量范围
-    bool enable_gps_;                 ///< 是否启用 GPS
-    uint16_t max_packet_size_;        ///< 最大 UDP 包大小
-    uint32_t frame_timeout_ms_;       ///< 帧超时时间
-    bool enable_fps_stats_;           ///< FPS 统计
-    bool enable_drop_stats_;          ///< 丢弃帧统计
-    
-    // ========================================================================
-    // 套接字和网络
-    // ========================================================================
-    
-    int udp_socket_;                  ///< UDP 套接字文件描述符
-    uint32_t frame_counter_;          ///< 帧计数器
-    std::atomic<uint32_t> bytes_sent_{0};  ///< 已发送字节数
-    std::atomic<uint32_t> packets_sent_{0}; ///< 已发送包数
-    std::atomic<uint32_t> frames_dropped_{0}; ///< 丢弃的帧数
-    
-    // ========================================================================
-    // 异步发送队列和线程
-    // ========================================================================
-    
-    /** UDP 数据包队列项 */
-    struct PacketQueueItem {
-        std::vector<uint8_t> data;
-        std::chrono::system_clock::time_point enqueue_time;
-    };
-    
-    std::queue<PacketQueueItem> send_queue_;      ///< 发送队列
-    std::mutex send_queue_mutex_;                 ///< 队列互斥锁
-    std::condition_variable send_queue_cv_;       ///< 队列条件变量
-    std::thread sender_thread_;                   ///< 后台发送线程
-    std::atomic<bool> sender_running_{true};      ///< 线程运行标志
-    static const size_t MAX_QUEUE_SIZE = 5000;    ///< 队列最大大小
-    static const size_t BATCH_SEND_SIZE = 128;    ///< 批量发送大小 (增加以减少锁竞争)
-    
-    /**
-     * @brief 后台发送工作函数
-     */
-    void sender_worker();
-    
-    /**
-     * @brief 将数据包加入发送队列
-     * @param data 数据指针
-     * @param len 数据长度
-     */
-    void enqueue_packet(const uint8_t* data, uint16_t len);
-
-    /**
-     * @brief 批量将数据包加入发送队列
-     * @param packets 数据包列表 (将被移动)
-     */
-    void enqueue_packets(std::vector<std::vector<uint8_t>>& packets);
-
-    // ========================================================================
-    // GPS 数据缓存
-    // ========================================================================
-    
-    struct {
-        double latitude = 39.9042;    ///< 纬度
-        double longitude = 116.4074;  ///< 经度
-        double altitude = 100.0;      ///< 海拔
-        std::mutex mutex;
-    } current_gps_data_;
-    
-    // ========================================================================
-    // 统计信息
-    // ========================================================================
-    
-    struct {
-        uint32_t total_frames = 0;
-        uint32_t total_bytes = 0;
-        uint32_t total_packets = 0;
-        std::chrono::system_clock::time_point last_report_time;
-    } stats_;
-    
-    std::mutex stats_mutex_;
-    
-    // ========================================================================
-    // 回调函数
-    // ========================================================================
-    
-    /**
-     * @brief 相机图像回调
-     */
-    void camera_callback(const sensor_msgs::msg::CompressedImage::SharedPtr msg);
-    
-    /**
-     * @brief GPS 回调
-     * @param msg GPS 消息
-     */
-    void gps_callback(const sensor_msgs::msg::NavSatFix::SharedPtr msg);
-    
-    // ========================================================================
-    // 网络函数
-    // ========================================================================
-    
-    /**
-     * @brief 初始化 UDP 套接字
-     * @return 成功返回 true
-     */
-    bool init_udp_socket();
-    
-    /**
-     * @brief 关闭 UDP 套接字
-     */
-    void close_udp_socket();
-    
-    /**
-     * @brief 发送 UDP 数据包
-     * @param data 数据指针
-     * @param len 数据长度
-     * @return 发送的字节数，失败返回 -1
-     */
-    int send_udp_packet(const uint8_t* data, uint16_t len);
-    
-    // ========================================================================
-    // 图像处理函数
-    // ========================================================================
-    
-    /**
-     * @brief 将 OpenCV Mat 编码为 JPEG
-     * @param frame OpenCV 图像
-     * @param quality 压缩质量
-     * @param output 输出 JPEG 数据
-     * @return 成功返回 true
-     */
-    bool encode_to_jpeg(const cv::Mat& frame, int quality, std::vector<uint8_t>& output);
-    
-    /**
-     * @brief 将 JPEG 数据分片为 UDP 包并发送
-     * @param jpeg_data JPEG 数据指针
-     * @param jpeg_len JPEG 数据长度
-     * @param timestamp 时间戳
-     * @param lat 纬度
-     * @param lon 经度
-     * @param alt 海拔
-     * @return 发送的包数
-     */
-    uint16_t fragment_and_send(
-        const uint8_t* jpeg_data,
-        uint32_t jpeg_len,
-        double timestamp,
-        double lat,
-        double lon,
-        double alt
-    );
-    
-    // ========================================================================
-    // 统计和监控
-    // ========================================================================
-    
-    /**
-     * @brief 更新统计信息
-     * @param bytes_count 新增字节数
-     * @param packet_count 新增包数
-     */
-    void update_stats(uint32_t bytes_count, uint32_t packet_count);
-    
-    /**
-     * @brief 定期报告统计信息
-     */
-    void report_stats();
-};
-

skylink_ros2_ws/src/skylink_bridge/package.xml

@@ -1,41 +0,0 @@
-<?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="3">
-  <name>skylink_bridge</name>
-  <version>1.0.0</version>
-  <description>
-    SkyLink 实时视频传输系统 - ROS 2 机载端
-    负责采集相机和 GPS 数据，通过 UDP 广播发送到地面站和移动端
-  </description>
-  
-  <!-- 维护者信息 -->
-  <maintainer email="support@skylink.dev">flowzl</maintainer>
-  <license>MIT</license>
-  
-  <!-- 作者 -->
-  <author email="dev@skylink.dev">SkyLink Development</author>
-  
-  <!-- 编译工具 -->
-  <buildtool_depend>ament_cmake</buildtool_depend>
-  
-  <!-- ROS 2 依赖 -->
-  <depend>rclcpp</depend>
-  <depend>sensor_msgs</depend>
-  <depend>geometry_msgs</depend>
-  <depend>cv_bridge</depend>
-  <depend>image_transport</depend>
-  
-  <!-- 系统库依赖 -->
-  <exec_depend>opencv-dev</exec_depend>
-  <exec_depend>libjpeg-turbo-dev</exec_depend>
-  
-  <!-- 可选：MAVROS GPS 支持 -->
-  <depend>mavros_msgs</depend>
-
-  <!-- 可选：USB 相机支持 -->
-  <exec_depend>usb_cam</exec_depend>
-  <!-- 导出信息 -->
-  <export>
-    <build_type>ament_cmake</build_type>
-  </export>
-</package>

skylink_ros2_ws/src/skylink_bridge/src/camera_driver_node.cpp

@@ -1,494 +0,0 @@
-/**
- * @file camera_driver_node.cpp
- * @brief V4L2 相机驱动节点 - 发布 ROS 2 CompressedImage 消息
- * 
- * 使用 V4L2 直接读取 USB 摄像头 MJPEG 流，发布为 ROS 2 sensor_msgs/CompressedImage
- * 
- * @author flowzl
- * @date 2026-01-19
- */
-
-#include <rclcpp/rclcpp.hpp>
-#include <sensor_msgs/msg/compressed_image.hpp>
-#include <thread>
-#include <atomic>
-#include <chrono>
-#include <vector>
-
-// V4L2 includes
-#include <linux/videodev2.h>
-#include <fcntl.h>
-#include <sys/ioctl.h>
-#include <sys/mman.h>
-#include <unistd.h>
-#include <sys/stat.h>
-
-/**
- * @class CameraDriverNode
- * @brief V4L2 相机驱动 ROS 2 节点 (Raw MJPEG)
- */
-class CameraDriverNode : public rclcpp::Node {
-public:
-    /**
-     * @brief 构造函数
-     */
-    CameraDriverNode() : rclcpp::Node("camera_driver") {
-        // ====================================================================
-        // 声明参数
-        // ====================================================================
-        
-        this->declare_parameter<std::string>("video_device", "/dev/video4");
-        this->declare_parameter<double>("framerate", 30.0);
-        this->declare_parameter<int>("image_width", 640);
-        this->declare_parameter<int>("image_height", 480);
-        this->declare_parameter<std::string>("camera_topic", "/camera/image_raw/compressed");
-        this->declare_parameter<std::string>("camera_frame", "camera");
-        this->declare_parameter<bool>("enable_fps_stats", true);
-        
-        // 读取参数
-        video_device_ = this->get_parameter("video_device").as_string();
-        target_framerate_ = this->get_parameter("framerate").as_double();
-        image_width_ = this->get_parameter("image_width").as_int();
-        image_height_ = this->get_parameter("image_height").as_int();
-        camera_topic_ = this->get_parameter("camera_topic").as_string();
-        camera_frame_ = this->get_parameter("camera_frame").as_string();
-        enable_fps_stats_ = this->get_parameter("enable_fps_stats").as_bool();
-        
-        // ====================================================================
-        // 初始化摄像头
-        // ====================================================================
-        
-        RCLCPP_INFO(this->get_logger(), "======================================");
-        RCLCPP_INFO(this->get_logger(), "V4L2 Native Camera Driver Node 启动");
-        RCLCPP_INFO(this->get_logger(), "======================================");
-        RCLCPP_INFO(this->get_logger(), "设备: %s", video_device_.c_str());
-        RCLCPP_INFO(this->get_logger(), "分辨率: %dx%d", image_width_, image_height_);
-        RCLCPP_INFO(this->get_logger(), "帧率: %.1f", target_framerate_);
-        
-        if (!init_camera()) {
-            RCLCPP_ERROR(this->get_logger(), "❌ 摄像头初始化失败");
-            rclcpp::shutdown();
-            return;
-        }
-        
-        RCLCPP_INFO(this->get_logger(), "✓ 摄像头初始化成功");
-        
-        // ====================================================================
-        // 创建发布者
-        // ====================================================================
-        
-        // 修改为默认 QoS (Reliable, KeepLast=10) 以匹配 Python 行为和 ros2 topic hz 工具
-        // 之前使用 SensorDataQoS (BestEffort) 导致 ros2 topic hz (默认 Reliable) 无法正常接收
-        rclcpp::QoS qos_profile(10); 
-        
-        // 使用 CompressedImage 发布
-        image_publisher_ = this->create_publisher<sensor_msgs::msg::CompressedImage>(
-            camera_topic_,
-            qos_profile
-        );
-        
-        RCLCPP_INFO(this->get_logger(), "✓ CompressedImage 发布器已创建: %s (Reliable)", camera_topic_.c_str());
-        
-        // ====================================================================
-        // 启动捕获线程
-        // ====================================================================
-        
-        capturing_ = true;
-        capture_thread_ = std::thread(&CameraDriverNode::capture_worker, this);
-        
-        RCLCPP_INFO(this->get_logger(), "✓ 捕获线程已启动");
-        RCLCPP_INFO(this->get_logger(), "✓ 节点初始化完成");
-        RCLCPP_INFO(this->get_logger(), "======================================");
-    }
-    
-    /**
-     * @brief 析构函数
-     */
-    ~CameraDriverNode() {
-        capturing_ = false;
-        if (capture_thread_.joinable()) {
-            capture_thread_.join();
-        }
-        
-        stop_capturing();
-        uninit_device();
-        close_device();
-        
-        RCLCPP_INFO(this->get_logger(), "Camera Driver Node 已关闭");
-    }
-
-    // 设备信息查询接口
-    const std::string& device_path() const { return video_device_; }
-    const std::string& device_name() const { return device_name_; }
-    uint16_t image_width() const { return static_cast<uint16_t>(image_width_); }
-    uint16_t image_height() const { return static_cast<uint16_t>(image_height_); }
-    float target_fps() const { return static_cast<float>(target_framerate_); }
-    uint32_t pixel_format_fourcc() const { return pixel_format_fourcc_; }
-    float current_fps() const { return current_fps_; }
-    uint32_t total_frames() const { return frame_counter_; }
-    
-private:
-    // ========================================================================
-    // V4L2 结构
-    // ========================================================================
-    struct Buffer {
-        void *start;
-        size_t length;
-    };
-
-    // ========================================================================
-    // 成员变量
-    // ========================================================================
-    
-    // V4L2 members
-    int fd_ = -1;
-    std::vector<Buffer> buffers_;
-    
-    /** 摄像头参数 */
-    std::string video_device_;
-    std::string device_name_{"Unknown"};
-    double target_framerate_;
-    int image_width_;
-    int image_height_;
-    std::string camera_topic_;
-    std::string camera_frame_;
-    bool enable_fps_stats_;
-    
-    /** 发布者 */
-    rclcpp::Publisher<sensor_msgs::msg::CompressedImage>::SharedPtr image_publisher_;
-    
-    /** 捕获线程 */
-    std::thread capture_thread_;
-    std::atomic<bool> capturing_{false};
-    
-    /** 统计信息 */
-    uint32_t frame_counter_ = 0;
-    std::chrono::system_clock::time_point last_stats_time_;
-    float current_fps_ = 0.0f;
-    uint32_t pixel_format_fourcc_ = V4L2_PIX_FMT_MJPEG;
-    
-    // ========================================================================
-    // 私有方法
-    // ========================================================================
-    
-    // xioctl helper
-    static int xioctl(int fh, int request, void *arg) {
-        int r;
-        do {
-            r = ioctl(fh, request, arg);
-        } while (-1 == r && EINTR == errno);
-        return r;
-    }
-
-    /**
-     * @brief 关闭设备
-     */
-    void close_device() {
-        if (fd_ != -1) {
-            close(fd_);
-            fd_ = -1;
-        }
-    }
-
-    /**
-     * @brief 释放内存映射
-     */
-    void uninit_device() {
-        for (const auto& buffer : buffers_) {
-            if (-1 == munmap(buffer.start, buffer.length)) {
-                perror("munmap");
-            }
-        }
-        buffers_.clear();
-    }
-
-    /**
-     * @brief 停止流
-     */
-    void stop_capturing() {
-        if (fd_ != -1) {
-            enum v4l2_buf_type type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
-            xioctl(fd_, VIDIOC_STREAMOFF, &type);
-        }
-    }
-
-    /**
-     * @brief 初始化摄像头
-     */
-    bool init_camera() {
-        struct stat st;
-        if (-1 == stat(video_device_.c_str(), &st)) {
-            RCLCPP_ERROR(this->get_logger(), "无法识别 '%s': %d, %s", video_device_.c_str(), errno, strerror(errno));
-            return false;
-        }
-        if (!S_ISCHR(st.st_mode)) {
-            RCLCPP_ERROR(this->get_logger(), "%s 不是字符设备", video_device_.c_str());
-            return false;
-        }
-
-        fd_ = open(video_device_.c_str(), O_RDWR | O_NONBLOCK, 0);
-        if (-1 == fd_) {
-            RCLCPP_ERROR(this->get_logger(), "无法打开 '%s': %d, %s", video_device_.c_str(), errno, strerror(errno));
-            return false;
-        }
-
-        struct v4l2_capability cap;
-        if (-1 == xioctl(fd_, VIDIOC_QUERYCAP, &cap)) {
-             RCLCPP_ERROR(this->get_logger(), "不是 V4L2 设备");
-             return false;
-        }
-        if (!(cap.capabilities & V4L2_CAP_VIDEO_CAPTURE)) {
-            RCLCPP_ERROR(this->get_logger(), "不是视频捕获设备");
-            return false;
-        }
-        if (!(cap.capabilities & V4L2_CAP_STREAMING)) {
-            RCLCPP_ERROR(this->get_logger(), "不支持流 I/O");
-            return false;
-        }
-        device_name_ = reinterpret_cast<const char*>(cap.card);
-
-        // 设置格式
-        struct v4l2_format fmt;
-        memset(&fmt, 0, sizeof(fmt));
-        fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
-        fmt.fmt.pix.width = image_width_;
-        fmt.fmt.pix.height = image_height_;
-        fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_MJPEG; // 强制 MJPEG
-        fmt.fmt.pix.field = V4L2_FIELD_ANY; // V4L2_FIELD_NONE? ANY common for USB cams
-
-        if (-1 == xioctl(fd_, VIDIOC_S_FMT, &fmt)) {
-            RCLCPP_ERROR(this->get_logger(), "设置像素格式失败");
-            return false;
-        }
-        
-        // 检查实际设置的格式
-        if (-1 == xioctl(fd_, VIDIOC_G_FMT, &fmt)) {
-            RCLCPP_WARN(this->get_logger(), "无法获取实际格式");
-        } else {
-            char fourcc[5] = {0};
-            fourcc[0] = (fmt.fmt.pix.pixelformat) & 0xFF;
-            fourcc[1] = (fmt.fmt.pix.pixelformat >> 8) & 0xFF;
-            fourcc[2] = (fmt.fmt.pix.pixelformat >> 16) & 0xFF;
-            fourcc[3] = (fmt.fmt.pix.pixelformat >> 24) & 0xFF;
-            RCLCPP_INFO(this->get_logger(), "实际设置的格式: %s (0x%08X), 分辨率: %dx%d",
-                       fourcc, fmt.fmt.pix.pixelformat, 
-                       fmt.fmt.pix.width, fmt.fmt.pix.height);
-            
-            if (fmt.fmt.pix.pixelformat != V4L2_PIX_FMT_MJPEG) {
-                RCLCPP_WARN(this->get_logger(), 
-                    "⚠️ 设备不支持MJPEG格式！实际格式: %s，可能需要使用其他格式或软件编码",
-                    fourcc);
-            }
-
-            pixel_format_fourcc_ = fmt.fmt.pix.pixelformat;
-        }
-
-        // 设置帧率
-        struct v4l2_streamparm streamparm;
-        memset(&streamparm, 0, sizeof(streamparm));
-        streamparm.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
-        streamparm.parm.capture.timeperframe.numerator = 1;
-        streamparm.parm.capture.timeperframe.denominator = (unsigned int)target_framerate_;
-        
-        if (xioctl(fd_, VIDIOC_S_PARM, &streamparm) != -1) {
-            double actual_fps = (double)streamparm.parm.capture.timeperframe.denominator / 
-                                streamparm.parm.capture.timeperframe.numerator;
-             RCLCPP_INFO(this->get_logger(), "尝试设置FPS: %.1f, 实际FPS: %.1f", target_framerate_, actual_fps);
-        }
-
-        // 请求 buffers
-        struct v4l2_requestbuffers req;
-        memset(&req, 0, sizeof(req));
-        req.count = 4;
-        req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
-        req.memory = V4L2_MEMORY_MMAP;
-
-        if (-1 == xioctl(fd_, VIDIOC_REQBUFS, &req)) {
-            RCLCPP_ERROR(this->get_logger(), "VIDIOC_REQBUFS 失败");
-            return false;
-        }
-        if (req.count < 2) {
-            RCLCPP_WARN(this->get_logger(), "Buffer 数量过少: %d", req.count);
-        }
-
-        buffers_.resize(req.count);
-
-        for (size_t i = 0; i < req.count; ++i) {
-            struct v4l2_buffer buf;
-            memset(&buf, 0, sizeof(buf));
-            buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
-            buf.memory = V4L2_MEMORY_MMAP;
-            buf.index = i;
-
-            if (-1 == xioctl(fd_, VIDIOC_QUERYBUF, &buf)) {
-                 RCLCPP_ERROR(this->get_logger(), "VIDIOC_QUERYBUF 失败");
-                 return false;
-            }
-
-            buffers_[i].length = buf.length;
-            buffers_[i].start = mmap(NULL, buf.length,
-                                     PROT_READ | PROT_WRITE, MAP_SHARED,
-                                     fd_, buf.m.offset);
-
-            if (MAP_FAILED == buffers_[i].start) {
-                 RCLCPP_ERROR(this->get_logger(), "mmap 失败");
-                 return false;
-            }
-        }
-        
-        RCLCPP_INFO(this->get_logger(), "实际设置 - 分辨率: %dx%d, MJPEG",
-            fmt.fmt.pix.width, fmt.fmt.pix.height);
-        
-        // 开始流
-        for (size_t i = 0; i < buffers_.size(); ++i) {
-            struct v4l2_buffer buf;
-            memset(&buf, 0, sizeof(buf));
-            buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
-            buf.memory = V4L2_MEMORY_MMAP;
-            buf.index = i;
-            if (-1 == xioctl(fd_, VIDIOC_QBUF, &buf)) {
-                 RCLCPP_ERROR(this->get_logger(), "VIDIOC_QBUF 失败");
-                 return false;
-            }
-        }
-        
-        enum v4l2_buf_type type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
-        if (-1 == xioctl(fd_, VIDIOC_STREAMON, &type)) {
-             RCLCPP_ERROR(this->get_logger(), "VIDIOC_STREAMON 失败");
-             return false;
-        }
-
-        return true;
-    }
-    
-    /**
-     * @brief 捕获工作线程
-     */
-    void capture_worker() {
-        RCLCPP_INFO(this->get_logger(), "📷 捕获线程开始工作 (V4L2)");
-        
-        last_stats_time_ = std::chrono::system_clock::now();
-        uint32_t last_frame_counter = 0;
-        
-        while (capturing_ && rclcpp::ok()) {
-            fd_set fds;
-            struct timeval tv;
-            int r;
-
-            FD_ZERO(&fds);
-            FD_SET(fd_, &fds);
-
-            tv.tv_sec = 2; // Timeout
-            tv.tv_usec = 0;
-
-            r = select(fd_ + 1, &fds, NULL, NULL, &tv);
-
-            if (-1 == r) {
-                 if (EINTR == errno) continue;
-                 RCLCPP_ERROR(this->get_logger(), "select error");
-                 break;
-            }
-            if (0 == r) {
-                 RCLCPP_WARN(this->get_logger(), "select timeout");
-                 continue;
-            }
-
-            struct v4l2_buffer buf;
-            memset(&buf, 0, sizeof(buf));
-            buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
-            buf.memory = V4L2_MEMORY_MMAP;
-
-            if (-1 == xioctl(fd_, VIDIOC_DQBUF, &buf)) {
-                if (errno == EAGAIN) continue;
-                 RCLCPP_ERROR(this->get_logger(), "VIDIOC_DQBUF error: %d, %s", errno, strerror(errno));
-                 continue; // try next
-            }
-            
-            // 数据在 buffers_[buf.index].start，长度 buf.bytesused
-            try {
-                // 验证MJPEG数据格式（每300帧检查一次）
-                if (frame_counter_ % 300 == 0 && buf.bytesused >= 2) {
-                    const uint8_t* data_ptr = (const uint8_t*)buffers_[buf.index].start;
-                    RCLCPP_INFO(this->get_logger(), 
-                        "V4L2 MJPEG数据检查 - 大小: %u bytes, 前2字节: 0x%02X 0x%02X",
-                        buf.bytesused, data_ptr[0], data_ptr[1]);
-                }
-                
-                auto msg = std::make_unique<sensor_msgs::msg::CompressedImage>();
-                msg->header.stamp = this->now();
-                msg->header.frame_id = camera_frame_;
-                msg->format = "jpeg"; // MJPEG stream
-                
-                // 直接使用V4L2原始数据，不进行二次解码
-                msg->data.resize(buf.bytesused);
-                memcpy(msg->data.data(), buffers_[buf.index].start, buf.bytesused);
-                
-                // 发布消息
-                image_publisher_->publish(std::move(msg));
-                
-                frame_counter_++;
-                
-                // 定期报告统计 (每 300 帧，约 10 秒)
-                if (enable_fps_stats_ && (frame_counter_ % 300 == 0)) {
-                    auto now = std::chrono::system_clock::now();
-                    auto elapsed_seconds = std::chrono::duration_cast<std::chrono::seconds>(
-                        now - last_stats_time_
-                    ).count();
-                    
-                    if (elapsed_seconds > 0) {
-                        uint32_t current_frames = frame_counter_ - last_frame_counter;
-                        uint32_t fps = current_frames / elapsed_seconds;
-                        current_fps_ = static_cast<float>(fps);
-                        
-                        RCLCPP_INFO(this->get_logger(),
-                            "相机统计 - 实时 FPS: %u, 总帧: %u, 每帧: %u KB",
-                            fps, frame_counter_, buf.bytesused/1024
-                        );
-                        
-                        last_stats_time_ = now;
-                        last_frame_counter = frame_counter_;
-                    }
-                }
-                
-            } catch (const std::exception& e) {
-                RCLCPP_ERROR(this->get_logger(), "发布失败: %s", e.what());
-            }
-
-            // 放回队列
-            if (-1 == xioctl(fd_, VIDIOC_QBUF, &buf)) {
-                 RCLCPP_ERROR(this->get_logger(), "VIDIOC_QBUF error");
-            }
-        }
-        
-        RCLCPP_INFO(this->get_logger(), "📷 捕获线程已停止");
-    }
-    
-    /**
-     * @brief 报告统计信息 (Legacy)
-     */
-    void report_stats() {
-        auto now = std::chrono::system_clock::now();
-        auto elapsed_seconds = std::chrono::duration_cast<std::chrono::seconds>(
-            now - last_stats_time_
-        ).count();
-        
-        if (elapsed_seconds > 0) {
-            uint32_t fps = frame_counter_ / elapsed_seconds;
-            RCLCPP_INFO(this->get_logger(),
-                "相机统计 - FPS: %u, 总帧: %u",
-                fps, frame_counter_
-            );
-        }
-    }
-};
-
-/**
- * @brief 主函数
- */
-int main(int argc, char* argv[]) {
-    rclcpp::init(argc, argv);
-    auto node = std::make_shared<CameraDriverNode>();
-    rclcpp::spin(node);
-    rclcpp::shutdown();
-    return 0;
-}

skylink_ros2_ws/src/skylink_bridge/src/device_info_sender_node.cpp

@@ -1,251 +0,0 @@
-#include "skylink_bridge/device_info_sender_node.h"
-
-#include <arpa/inet.h>
-#include <chrono>
-#include <cstring>
-#include <fcntl.h>
-#include <sys/socket.h>
-#include <unistd.h>
-
-using namespace std::chrono_literals;
-
-namespace {
-uint16_t read_uint16(const std::string& s) {
-    try {
-        return static_cast<uint16_t>(std::stoi(s));
-    } catch (...) {
-        return 0;
-    }
-}
-}  // namespace
-
-DeviceInfoSenderNode::DeviceInfoSenderNode()
-    : rclcpp::Node("device_info_sender_node") {
-    load_parameters();
-
-    // 创建 UDP 套接字
-    udp_socket_ = socket(AF_INET, SOCK_DGRAM, 0);
-    if (udp_socket_ < 0) {
-        RCLCPP_FATAL(this->get_logger(), "创建 UDP 套接字失败: %s", strerror(errno));
-        throw std::runtime_error("socket create failed");
-    }
-
-    // 允许广播
-    int opt = 1;
-    setsockopt(udp_socket_, SOL_SOCKET, SO_BROADCAST, &opt, sizeof(opt));
-
-    // 绑定监听端口
-    sockaddr_in addr{};
-    addr.sin_family = AF_INET;
-    addr.sin_port = htons(info_port_);
-    addr.sin_addr.s_addr = INADDR_ANY;
-    if (bind(udp_socket_, reinterpret_cast<sockaddr*>(&addr), sizeof(addr)) < 0) {
-        RCLCPP_FATAL(this->get_logger(), "绑定端口 %u 失败: %s", info_port_, strerror(errno));
-        throw std::runtime_error("bind failed");
-    }
-
-    // 定期广播
-    if (enable_broadcast_) {
-        broadcast_timer_ = this->create_wall_timer(
-            std::chrono::milliseconds(broadcast_interval_ms_),
-            std::bind(&DeviceInfoSenderNode::broadcast_timer_callback, this));
-    }
-
-    // 请求响应线程
-    if (enable_request_response_) {
-        running_.store(true);
-        listener_thread_ = std::thread(&DeviceInfoSenderNode::handle_request_loop, this);
-    }
-
-    RCLCPP_INFO(this->get_logger(),
-                "设备信息发送节点启动，端口: %u, 广播: %s, 请求响应: %s",
-                info_port_, enable_broadcast_ ? "开启" : "关闭",
-                enable_request_response_ ? "开启" : "关闭");
-}
-
-DeviceInfoSenderNode::~DeviceInfoSenderNode() {
-    running_.store(false);
-    if (listener_thread_.joinable()) {
-        listener_thread_.join();
-    }
-    if (udp_socket_ >= 0) {
-        close(udp_socket_);
-    }
-}
-
-void DeviceInfoSenderNode::load_parameters() {
-    this->declare_parameter<int>("info_port", 10000);
-    this->declare_parameter<std::string>("target_ip", "255.255.255.255");
-    this->declare_parameter<bool>("enable_broadcast", true);
-    this->declare_parameter<bool>("enable_request_response", true);
-    this->declare_parameter<int>("broadcast_interval_ms", 1000);
-
-    this->declare_parameter<std::string>("device_path", "/dev/video0");
-    this->declare_parameter<std::string>("device_name", "Unknown");
-    this->declare_parameter<int>("width", 640);
-    this->declare_parameter<int>("height", 480);
-    this->declare_parameter<double>("framerate", 30.0);
-    this->declare_parameter<std::string>("pixel_format", "YUYV");
-
-    // 读取
-    info_port_ = static_cast<uint16_t>(this->get_parameter("info_port").as_int());
-    target_ip_ = this->get_parameter("target_ip").as_string();
-    enable_broadcast_ = this->get_parameter("enable_broadcast").as_bool();
-    enable_request_response_ = this->get_parameter("enable_request_response").as_bool();
-    broadcast_interval_ms_ = this->get_parameter("broadcast_interval_ms").as_int();
-
-    device_path_ = this->get_parameter("device_path").as_string();
-    device_name_ = this->get_parameter("device_name").as_string();
-    width_ = static_cast<uint16_t>(this->get_parameter("width").as_int());
-    height_ = static_cast<uint16_t>(this->get_parameter("height").as_int());
-    framerate_ = static_cast<float>(this->get_parameter("framerate").as_double());
-    pixel_format_ = fourcc_from_string(this->get_parameter("pixel_format").as_string());
-
-    current_fps_ = 0.0f;
-    total_frames_ = 0;
-}
-
-void DeviceInfoSenderNode::broadcast_timer_callback() {
-    sockaddr_in addr{};
-    addr.sin_family = AF_INET;
-    addr.sin_port = htons(info_port_);
-    addr.sin_addr.s_addr = inet_addr(target_ip_.c_str());
-    send_device_info(addr);
-}
-
-void DeviceInfoSenderNode::send_device_info(const sockaddr_in& addr) {
-    DeviceInfoPacket packet = build_packet();
-
-    // 手动序列化为网络字节序
-    std::vector<uint8_t> buffer(sizeof(DeviceInfoPacket), 0);
-    uint8_t* p = buffer.data();
-
-    auto write_u16 = [](uint8_t*& ptr, uint16_t v) {
-        uint16_t n = htons(v);
-        std::memcpy(ptr, &n, sizeof(n));
-        ptr += sizeof(n);
-    };
-    auto write_u32 = [](uint8_t*& ptr, uint32_t v) {
-        uint32_t n = htonl(v);
-        std::memcpy(ptr, &n, sizeof(n));
-        ptr += sizeof(n);
-    };
-    auto write_float = [](uint8_t*& ptr, float f) {
-        uint32_t bits;
-        std::memcpy(&bits, &f, sizeof(bits));
-        uint32_t n = htonl(bits);
-        std::memcpy(ptr, &n, sizeof(n));
-        ptr += sizeof(n);
-    };
-    auto write_u64 = [](uint8_t*& ptr, uint64_t v) {
-        uint64_t n = DeviceInfoSenderNode::htonll(v);
-        std::memcpy(ptr, &n, sizeof(n));
-        ptr += sizeof(n);
-    };
-
-    write_u16(p, packet.magic);
-    write_u32(p, packet.sequence);
-    write_u16(p, packet.width);
-    write_u16(p, packet.height);
-    write_float(p, packet.framerate);
-    write_u32(p, packet.pixel_format);
-
-    std::memcpy(p, packet.device_path, sizeof(packet.device_path));
-    p += sizeof(packet.device_path);
-    std::memcpy(p, packet.device_name, sizeof(packet.device_name));
-    p += sizeof(packet.device_name);
-
-    write_float(p, packet.current_fps);
-    write_u32(p, packet.total_frames);
-    write_u64(p, packet.timestamp);
-    write_u16(p, packet.crc16);
-
-    ssize_t sent = sendto(udp_socket_, buffer.data(), buffer.size(), 0,
-                          reinterpret_cast<const sockaddr*>(&addr), sizeof(addr));
-    if (sent < 0) {
-        RCLCPP_WARN(this->get_logger(), "发送设备信息失败: %s", strerror(errno));
-    }
-}
-
-void DeviceInfoSenderNode::handle_request_loop() {
-    // 设置非阻塞
-    int flags = fcntl(udp_socket_, F_GETFL, 0);
-    fcntl(udp_socket_, F_SETFL, flags | O_NONBLOCK);
-
-    std::vector<uint8_t> buf(512);
-    while (running_.load()) {
-        sockaddr_in sender{};
-        socklen_t sender_len = sizeof(sender);
-        ssize_t n = recvfrom(udp_socket_, buf.data(), buf.size(), 0,
-                             reinterpret_cast<sockaddr*>(&sender), &sender_len);
-        if (n <= 0) {
-            std::this_thread::sleep_for(50ms);
-            continue;
-        }
-
-        if (n < 2) {
-            continue;
-        }
-
-        uint16_t magic = ntohs(*reinterpret_cast<uint16_t*>(buf.data()));
-        if (magic == DEVICE_INFO_REQUEST) {
-            send_device_info(sender);
-        }
-    }
-}
-
-DeviceInfoPacket DeviceInfoSenderNode::build_packet() {
-    DeviceInfoPacket packet{};
-    packet.magic = DEVICE_INFO_MAGIC;
-    packet.sequence = sequence_++;
-    packet.width = width_;
-    packet.height = height_;
-    packet.framerate = framerate_;
-    packet.pixel_format = pixel_format_;
-
-    std::memset(packet.device_path, 0, sizeof(packet.device_path));
-    std::strncpy(packet.device_path, device_path_.c_str(), sizeof(packet.device_path) - 1);
-
-    std::memset(packet.device_name, 0, sizeof(packet.device_name));
-    std::strncpy(packet.device_name, device_name_.c_str(), sizeof(packet.device_name) - 1);
-
-    packet.current_fps = current_fps_;
-    packet.total_frames = total_frames_;
-
-    auto now = std::chrono::duration_cast<std::chrono::milliseconds>(
-        std::chrono::system_clock::now().time_since_epoch());
-    packet.timestamp = static_cast<uint64_t>(now.count());
-    packet.crc16 = 0;
-    return packet;
-}
-
-uint64_t DeviceInfoSenderNode::htonll(uint64_t value) {
-    static const int num = 42;
-    if (*reinterpret_cast<const char*>(&num) == num) {
-        // little-endian
-        uint32_t high_part = htonl(static_cast<uint32_t>(value >> 32));
-        uint32_t low_part = htonl(static_cast<uint32_t>(value & 0xFFFFFFFFULL));
-        return (static_cast<uint64_t>(low_part) << 32) | high_part;
-    } else {
-        return value;
-    }
-}
-
-uint32_t DeviceInfoSenderNode::fourcc_from_string(const std::string& fmt) {
-    if (fmt.size() >= 4) {
-        return (static_cast<uint32_t>(fmt[0]) & 0xFF) |
-               ((static_cast<uint32_t>(fmt[1]) & 0xFF) << 8) |
-               ((static_cast<uint32_t>(fmt[2]) & 0xFF) << 16) |
-               ((static_cast<uint32_t>(fmt[3]) & 0xFF) << 24);
-    }
-    // 默认 YUYV
-    return ('Y') | ('U' << 8) | ('Y' << 16) | ('V' << 24);
-}
-
-int main(int argc, char* argv[]) {
-    rclcpp::init(argc, argv);
-    auto node = std::make_shared<DeviceInfoSenderNode>();
-    rclcpp::spin(node);
-    rclcpp::shutdown();
-    return 0;
-}

skylink_ros2_ws/src/skylink_bridge/src/udp_sender_node.cpp

@@ -1,555 +0,0 @@
-/**
- * @file udp_sender_node.cpp
- * @brief SkyLink ROS 2 UDP 发送节点 - 实现文件
- * 
- * 完整实现相机和 GPS 数据采集、JPEG 编码、UDP 分片发送的功能。
- * 
- * @author flowzl
- * @date 2026-01-19
- */
-
-#include "skylink_bridge/udp_sender_node.h"
-#include <sys/socket.h>
-#include <arpa/inet.h>
-#include <netdb.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <cerrno>
-#include <chrono>
-#include <iomanip>
-#include <sstream>
-#include <sensor_msgs/msg/nav_sat_fix.hpp>
-#include <thread>
-
-/**
- * @brief 构造函数
- */
-UdpSenderNode::UdpSenderNode() : rclcpp::Node("udp_sender_node"), udp_socket_(-1), frame_counter_(0) {
-    // ========================================================================
-    // 声明和读取参数
-    // ========================================================================
-    
-    this->declare_parameter<std::string>("target_ip", "255.255.255.255");
-    this->declare_parameter<int>("target_port", 9999);
-    this->declare_parameter<std::string>("camera_topic", "/camera/image_raw");
-    this->declare_parameter<std::string>("gps_topic", "/mavros/global_position/global");
-    this->declare_parameter<int>("jpeg_quality", 70);
-    this->declare_parameter<bool>("adaptive_quality", true);
-    this->declare_parameter<int>("quality_min", 30);
-    this->declare_parameter<int>("quality_max", 95);
-    this->declare_parameter<bool>("enable_gps", true);
-    this->declare_parameter<int>("max_packet_size", 500);
-    this->declare_parameter<int>("frame_timeout_ms", 5000);
-    this->declare_parameter<bool>("enable_fps_stats", true);
-    this->declare_parameter<bool>("enable_drop_stats", true);
-    
-    // 读取参数
-    target_ip_ = this->get_parameter("target_ip").as_string();
-    target_port_ = static_cast<uint16_t>(this->get_parameter("target_port").as_int());
-    camera_topic_ = this->get_parameter("camera_topic").as_string();
-    gps_topic_ = this->get_parameter("gps_topic").as_string();
-    jpeg_quality_ = this->get_parameter("jpeg_quality").as_int();
-    adaptive_quality_ = this->get_parameter("adaptive_quality").as_bool();
-    quality_min_ = this->get_parameter("quality_min").as_int();
-    quality_max_ = this->get_parameter("quality_max").as_int();
-    enable_gps_ = this->get_parameter("enable_gps").as_bool();
-    max_packet_size_ = static_cast<uint16_t>(this->get_parameter("max_packet_size").as_int());
-    frame_timeout_ms_ = static_cast<uint32_t>(this->get_parameter("frame_timeout_ms").as_int());
-    enable_fps_stats_ = this->get_parameter("enable_fps_stats").as_bool();
-    enable_drop_stats_ = this->get_parameter("enable_drop_stats").as_bool();
-    
-    // ========================================================================
-    // 打印初始化信息
-    // ========================================================================
-    
-    RCLCPP_INFO(this->get_logger(), "======================================");
-    RCLCPP_INFO(this->get_logger(), "SkyLink UDP Sender Node 启动");
-    RCLCPP_INFO(this->get_logger(), "======================================");
-    RCLCPP_INFO(this->get_logger(), "目标 IP: %s:%d", target_ip_.c_str(), target_port_);
-    RCLCPP_INFO(this->get_logger(), "相机 Topic: %s", camera_topic_.c_str());
-    RCLCPP_INFO(this->get_logger(), "GPS Topic: %s", gps_topic_.c_str());
-    RCLCPP_INFO(this->get_logger(), "JPEG 质量: %d (自适应: %s)", jpeg_quality_, adaptive_quality_ ? "true" : "false");
-    RCLCPP_INFO(this->get_logger(), "最大包大小: %d 字节", max_packet_size_);
-    
-    // ========================================================================
-    // 初始化 UDP 套接字
-    // ========================================================================
-    
-    if (!init_udp_socket()) {
-        RCLCPP_ERROR(this->get_logger(), "❌ UDP 套接字初始化失败，节点退出");
-        rclcpp::shutdown();
-        return;
-    }
-    
-    RCLCPP_INFO(this->get_logger(), "✓ UDP 套接字初始化成功");
-    
-    // ========================================================================
-    // 创建订阅
-    // ========================================================================
-    
-    // 使用更激进的 QoS 设置，保留更多消息
-    rclcpp::QoS qos_profile = rclcpp::SensorDataQoS();
-    qos_profile.keep_last(10);  // 保留最后 10 条消息
-    
-    camera_subscriber_ = this->create_subscription<sensor_msgs::msg::CompressedImage>(
-        camera_topic_,
-        qos_profile,
-        [this](const sensor_msgs::msg::CompressedImage::SharedPtr msg) {
-            this->camera_callback(msg);
-        }
-    );
-    
-    RCLCPP_INFO(this->get_logger(), "✓ 订阅相机 Topic: %s (Compressed)", camera_topic_.c_str());
-    
-    if (enable_gps_) {
-        gps_subscriber_ = this->create_subscription<sensor_msgs::msg::NavSatFix>(
-            gps_topic_,
-            rclcpp::SensorDataQoS(),
-            [this](const sensor_msgs::msg::NavSatFix::SharedPtr msg) {
-                this->gps_callback(msg);
-            }
-        );
-        
-        RCLCPP_INFO(this->get_logger(), "✓ 订阅 GPS Topic: %s", gps_topic_.c_str());
-    }
-    
-    // ========================================================================
-    // 启动后台发送线程
-    // ========================================================================
-    
-    sender_running_ = true;
-    sender_thread_ = std::thread(&UdpSenderNode::sender_worker, this);
-    RCLCPP_INFO(this->get_logger(), "✓ 后台发送线程已启动");
-    
-    // ========================================================================
-    // 初始化统计
-    // ========================================================================
-    
-    stats_.last_report_time = std::chrono::system_clock::now();
-    
-    RCLCPP_INFO(this->get_logger(), "✓ 节点初始化完成，等待数据...");
-    RCLCPP_INFO(this->get_logger(), "======================================");
-}
-
-/**
- * @brief 析构函数
- */
-UdpSenderNode::~UdpSenderNode() {
-    // 停止后台发送线程
-    sender_running_ = false;
-    send_queue_cv_.notify_one();  // 唤醒等待的线程
-    if (sender_thread_.joinable()) {
-        sender_thread_.join();
-        RCLCPP_INFO(this->get_logger(), "✓ 后台发送线程已停止");
-    }
-    
-    close_udp_socket();
-    RCLCPP_INFO(this->get_logger(), "UDP Sender Node 已关闭");
-}
-
-/**
- * @brief 初始化 UDP 套接字
- */
-bool UdpSenderNode::init_udp_socket() {
-    // 创建 UDP 套接字
-    udp_socket_ = socket(AF_INET, SOCK_DGRAM, 0);
-    if (udp_socket_ < 0) {
-        RCLCPP_ERROR(this->get_logger(), "套接字创建失败: %s", strerror(errno));
-        return false;
-    }
-    // 开启广播权限
-    int broadcast_permission = 1;
-    if (setsockopt(udp_socket_, SOL_SOCKET, SO_BROADCAST, &broadcast_permission, sizeof(broadcast_permission)) < 0) {
-        RCLCPP_WARN(this->get_logger(), "设置 SO_BROADCAST 失败");
-    }
-
-    // 设置套接字可重用
-    int opt = 1;
-    if (setsockopt(udp_socket_, SOL_SOCKET, SO_REUSEADDR, &opt, sizeof(opt)) < 0) {
-        RCLCPP_WARN(this->get_logger(), "设置 SO_REUSEADDR 失败");
-    }
-    
-    // 设置发送缓冲区
-    // 增加缓冲区大小到 4MB (4 * 1024 * 1024) 以应对高码率 MJPEG 流
-    int buffer_size = 4 * 1024 * 1024; 
-    if (setsockopt(udp_socket_, SOL_SOCKET, SO_SNDBUF, &buffer_size, sizeof(buffer_size)) < 0) {
-        RCLCPP_WARN(this->get_logger(), "设置发送缓冲区失败 (尝试 4MB): %s", strerror(errno));
-        // Fallback to smaller buffer if failed
-        buffer_size = 512 * 1024;
-        setsockopt(udp_socket_, SOL_SOCKET, SO_SNDBUF, &buffer_size, sizeof(buffer_size));
-    } else {
-        // 验证实际设置的大小 (Linux 内核通常会将其翻倍)
-        int actual_buf_size = 0;
-        socklen_t opt_len = sizeof(actual_buf_size);
-        if (getsockopt(udp_socket_, SOL_SOCKET, SO_SNDBUF, &actual_buf_size, &opt_len) == 0) {
-             RCLCPP_INFO(this->get_logger(), "UDP 发送缓冲区已设置为: %d bytes", actual_buf_size);
-        }
-    }
-    
-    // 设置非阻塞模式
-    int flags = fcntl(udp_socket_, F_GETFL, 0);
-    fcntl(udp_socket_, F_SETFL, flags | O_NONBLOCK);
-    
-    return true;
-}
-
-/**
- * @brief 关闭 UDP 套接字
- */
-void UdpSenderNode::close_udp_socket() {
-    if (udp_socket_ >= 0) {
-        close(udp_socket_);
-        udp_socket_ = -1;
-    }
-}
-
-/**
- * @brief 发送 UDP 数据包
- */
-int UdpSenderNode::send_udp_packet(const uint8_t* data, uint16_t len) {
-    if (udp_socket_ < 0 || !data || len == 0) {
-        return -1;
-    }
-    
-    struct sockaddr_in addr;
-    std::memset(&addr, 0, sizeof(addr));
-    addr.sin_family = AF_INET;
-    addr.sin_port = htons(target_port_);
-    addr.sin_addr.s_addr = inet_addr(target_ip_.c_str());
-    
-    int retries = 0;
-    const int MAX_RETRIES = 5;
-    ssize_t sent = -1;
-
-    while (retries < MAX_RETRIES) {
-        sent = sendto(udp_socket_, data, len, 0, (struct sockaddr*)&addr, sizeof(addr));
-        
-        if (sent > 0) {
-            bytes_sent_ += sent;
-            packets_sent_++;
-            return sent;
-        }
-
-        if (errno == EAGAIN || errno == EWOULDBLOCK) {
-            // 资源暂时不可用，等待并重试
-            retries++;
-            // 短暂休眠 1ms，给内核一点时间清空缓冲区
-            std::this_thread::sleep_for(std::chrono::microseconds(1000));
-            continue;
-        } else {
-            // 其他错误，直接退出
-            break;
-        }
-    }
-    
-    // 如果重试后仍然失败
-    if (sent <= 0) {
-        // 简单的错误限流日志
-        static auto last_error_time = std::chrono::steady_clock::now();
-        auto now = std::chrono::steady_clock::now();
-        if (std::chrono::duration_cast<std::chrono::seconds>(now - last_error_time).count() > 5) {
-            RCLCPP_WARN(this->get_logger(), "UDP 发送失败 (即使重试后): %s (errno=%d)", strerror(errno), errno);
-            last_error_time = now;
-        }
-    }
-    
-    return sent;
-}
-
-/**
- * @brief 批量将数据包加入发送队列
- */
-void UdpSenderNode::enqueue_packets(std::vector<std::vector<uint8_t>>& packets) {
-    {
-        std::lock_guard<std::mutex> lock(send_queue_mutex_);
-        
-        if (send_queue_.size() + packets.size() > MAX_QUEUE_SIZE) {
-            frames_dropped_++;
-            // 队列满时，丢弃整个 batch，避免部分帧发送
-            return;
-        }
-        
-        for (auto& packet_data : packets) {
-            PacketQueueItem item;
-            // 使用 move 避免拷贝
-            item.data = std::move(packet_data);
-            item.enqueue_time = std::chrono::system_clock::now();
-            send_queue_.push(std::move(item));
-        }
-    }
-    
-    // 通知发送线程有新数据
-    send_queue_cv_.notify_one();
-}
-
-/**
- * @brief 将数据包加入发送队列
- */
-void UdpSenderNode::enqueue_packet(const uint8_t* data, uint16_t len) {
-    {
-        std::lock_guard<std::mutex> lock(send_queue_mutex_);
-        
-        if (send_queue_.size() >= MAX_QUEUE_SIZE) {
-            frames_dropped_++;
-            return;
-        }
-        
-        PacketQueueItem item;
-        item.data.assign(data, data + len);
-        item.enqueue_time = std::chrono::system_clock::now();
-        send_queue_.push(item);
-    }
-    
-    // 通知发送线程有新数据
-    send_queue_cv_.notify_one();
-}
-
-/**
- * @brief 后台发送工作线程
- */
-void UdpSenderNode::sender_worker() {
-    RCLCPP_INFO(this->get_logger(), "发送线程开始运行 PID: %d", (int)getpid());
-    
-    // 预分配 batch 内存以减少循环中的分配
-    std::vector<PacketQueueItem> batch;
-    batch.reserve(BATCH_SEND_SIZE);
-
-    while (sender_running_) {
-        try {
-            batch.clear();
-            
-            {
-                std::unique_lock<std::mutex> lock(send_queue_mutex_);
-                
-                // 如果队列为空，等待条件变量唤醒（等待最多 100ms）
-                if (send_queue_.empty()) {
-                    send_queue_cv_.wait_for(lock, std::chrono::milliseconds(100),
-                        [this] { return !send_queue_.empty() || !sender_running_; });
-                }
-                
-                // 批量获取数据包（一次最多 BATCH_SEND_SIZE 个）
-                while (!send_queue_.empty() && batch.size() < BATCH_SEND_SIZE) {
-                    // 使用 move 避免通过拷贝构造函数复制数据，大幅提高性能
-                    batch.push_back(std::move(send_queue_.front()));
-                    send_queue_.pop();
-                }
-            }
-            
-            // 发送批量数据包（不在锁内进行）
-            for (const auto& item : batch) {
-                send_udp_packet(item.data.data(), item.data.size());
-            }
-
-        } catch (const std::exception& e) {
-            RCLCPP_ERROR(this->get_logger(), "发送线程发生异常: %s", e.what());
-            // 发生异常后稍微休眠一下避免死循环疯狂报错
-            std::this_thread::sleep_for(std::chrono::milliseconds(100));
-        } catch (...) {
-            RCLCPP_ERROR(this->get_logger(), "发送线程发生未知异常");
-            std::this_thread::sleep_for(std::chrono::milliseconds(100));
-        }
-    }
-    RCLCPP_INFO(this->get_logger(), "发送线程已退出");
-}
-
-/**
- * @brief 相机图像回调
- */
-void UdpSenderNode::camera_callback(const sensor_msgs::msg::CompressedImage::SharedPtr msg) {
-    try {
-        if (msg->data.empty()) {
-            RCLCPP_WARN(this->get_logger(), "收到空帧");
-            return;
-        }
-
-        // 直接使用压缩数据，不再解码/重编码
-        const std::vector<uint8_t>& jpeg_data = msg->data;
-        
-        // 获取当前 GPS 数据
-        double lat, lon, alt;
-        {
-            std::lock_guard<std::mutex> lock(current_gps_data_.mutex);
-            lat = current_gps_data_.latitude;
-            lon = current_gps_data_.longitude;
-            alt = current_gps_data_.altitude;
-        }
-        
-        // 分片并发送
-        double timestamp = rclcpp::Clock().now().seconds();
-        uint16_t chunks_sent_local = fragment_and_send(
-            jpeg_data.data(),
-            jpeg_data.size(),
-            timestamp,
-            lat,
-            lon,
-            alt
-        );
-        (void)chunks_sent_local;
-
-        // 记录本帧发送统计，便于调试（每帧输出可能较多，建议仅在调试时启用）
-        // RCLCPP_INFO(this->get_logger(), "帧信息: jpeg_size=%zu bytes, chunks_sent=%u", jpeg_data.size(), chunks_sent_local);
-
-        frame_counter_++;
-        stats_.total_frames++;
-        stats_.total_bytes += jpeg_data.size();
-        
-        // 定期打印统计
-        if (enable_fps_stats_ && (frame_counter_ % 300 == 0)) {
-            report_stats();
-        }
-        
-    } catch (const std::exception& e) {
-        RCLCPP_ERROR(this->get_logger(), "相机回调异常: %s", e.what());
-        frames_dropped_++;
-    }
-}
-
-/**
- * @brief GPS 回调
- */
-void UdpSenderNode::gps_callback(const sensor_msgs::msg::NavSatFix::SharedPtr msg) {
-    std::lock_guard<std::mutex> lock(current_gps_data_.mutex);
-    current_gps_data_.latitude = msg->latitude;
-    current_gps_data_.longitude = msg->longitude;
-    current_gps_data_.altitude = msg->altitude;
-}
-
-/**
- * @brief 将 Mat 编码为 JPEG
- */
-bool UdpSenderNode::encode_to_jpeg(const cv::Mat& frame, int quality, std::vector<uint8_t>& output) {
-    try {
-        std::vector<int> params{cv::IMWRITE_JPEG_QUALITY, quality};
-        cv::imencode(".jpg", frame, output, params);
-        return !output.empty();
-    } catch (const cv::Exception& e) {
-        RCLCPP_ERROR(this->get_logger(), "OpenCV 编码异常: %s", e.what());
-        return false;
-    }
-}
-
-/**
- * @brief 分片并发送
- */
-uint16_t UdpSenderNode::fragment_and_send(
-    const uint8_t* jpeg_data,
-    uint32_t jpeg_len,
-    double timestamp,
-    double lat,
-    double lon,
-    double alt) {
-    
-    // 计算需要的分片数
-    uint16_t payload_size = max_packet_size_ - sizeof(PacketHeader);
-    uint16_t total_chunks = (jpeg_len + payload_size - 1) / payload_size;
-    
-    if (total_chunks > MAX_CHUNKS) {
-        RCLCPP_WARN(this->get_logger(), "帧太大，超过最大分片数");
-        return 0;
-    }
-
-    // 预分配所有分片，进行批量入队
-    std::vector<std::vector<uint8_t>> frame_packets;
-    frame_packets.reserve(total_chunks);
-    
-    uint16_t chunks_sent = 0;
-    
-    // 创建每个分片
-    for (uint16_t i = 0; i < total_chunks; i++) {
-        uint16_t current_payload_size = std::min(
-            (uint32_t)payload_size,
-            jpeg_len - (uint32_t)i * payload_size
-        );
-        
-        // 构造包头
-        PacketHeader header;
-        header.magic = SKYLINK_MAGIC;
-        header.frame_id = frame_counter_;
-        header.total_chunks = total_chunks;
-        header.chunk_index = i;
-        header.data_len = current_payload_size;
-        header.timestamp = timestamp;
-        header.lat = lat;
-        header.lon = lon;
-        header.alt = alt;
-        header.crc16 = 0;  // TODO: 计算 CRC
-        header.reserve = 0;
-        
-        // 创建完整数据包
-        std::vector<uint8_t> packet(sizeof(PacketHeader) + current_payload_size);
-        std::memcpy(packet.data(), &header, sizeof(PacketHeader));
-        std::memcpy(
-            packet.data() + sizeof(PacketHeader),
-            jpeg_data + i * payload_size,
-            current_payload_size
-        );
-        
-        frame_packets.push_back(std::move(packet)); // Move 到 vector 中
-        chunks_sent++;
-    }
-
-    // 批量入队，减少锁的竞争
-    enqueue_packets(frame_packets);
-    
-    return chunks_sent;
-}
-
-/**
- * @brief 报告统计信息
- */
-void UdpSenderNode::report_stats() {
-    auto now = std::chrono::system_clock::now();
-    auto elapsed_seconds = std::chrono::duration_cast<std::chrono::seconds>(
-        now - stats_.last_report_time
-    ).count();
-    
-    // 获取当前队列深度
-    size_t current_queue_depth = 0;
-    {
-        std::lock_guard<std::mutex> lock(send_queue_mutex_);
-        current_queue_depth = send_queue_.size();
-    }
-    
-    if (elapsed_seconds > 0) {
-        // 计算本周期的帧数和字节数（不是累计值）
-        uint32_t frames_this_period = stats_.total_frames;  
-        uint32_t bytes_this_period = stats_.total_bytes;
-        
-        // 计算实时 FPS 和吞吐量
-        uint32_t fps = frames_this_period / elapsed_seconds;
-        uint32_t kbps = (bytes_this_period / elapsed_seconds) / 1024;
-        
-        // 计算队列使用率（百分比）
-        float queue_utilization = (current_queue_depth * 100.0f) / MAX_QUEUE_SIZE;
-        
-        RCLCPP_INFO(this->get_logger(),
-            "发送统计 - FPS: %u, 速率: %u KB/s, 总帧: %u, 总包: %u, 丢弃: %u, 队列: %zu/%zu (%.1f%%)",
-                        fps,      kbps,    frame_counter_, packets_sent_.load(), frames_dropped_.load(),
-            current_queue_depth, MAX_QUEUE_SIZE, queue_utilization
-        );
-        
-        // 如果队列接近满，发出警告
-        if (queue_utilization > 80.0f) {
-            RCLCPP_WARN(this->get_logger(),
-                "发送队列接近饱和 (%.1f%%)，建议检查网络或增加发送线程",
-                queue_utilization
-            );
-        }
-        
-        // 重置周期统计
-        stats_.total_frames = 0;
-        stats_.total_bytes = 0;
-        stats_.last_report_time = now;
-    }
-}
-
-/**
- * @brief 主函数
- */
-int main(int argc, char* argv[]) {
-    rclcpp::init(argc, argv);
-    auto node = std::make_shared<UdpSenderNode>();
-    rclcpp::spin(node);
-    rclcpp::shutdown();
-    return 0;
-}

skylink_ros2_ws/src/skylink_bridge_python/config/params.yaml

@@ -9,13 +9,21 @@
 /camera_driver:
   ros__parameters:
     # 相机驱动参数（对应 launch 中的 node name: camera_driver）
-    video_device: "/dev/video6"
-    framerate: 30.0
-    image_width: 640
-    image_height: 480
-    camera_topic: "/camera/image_raw/compressed"
-    camera_frame: "camera"
-    enable_fps_stats: true
+    video_device: 2             # OpenCV 摄像头索引，例如 0 代表 /dev/video0，2 代表 /dev/video2
+ 
+    image_width: 3840
+    image_height: 2160
+    
+    # 调试参数
+    frame_rate: 30.0            # 帧率
+    fourcc: "MJPG"              # 视频流格式: MJPG, YUYV 等
+    auto_exposure: true         # 自动曝光开关: true=自动, false=手动
+    exposure_value: -5.0        # 曝光值 (仅在 auto_exposure=false 时生效, 具体范围取决于设备，通常是负数或很小的正数)
+
+    # 拍照功能配置
+    save_dir: "./camera_data"
+    interval: 5.0                # 自动拍照间隔（秒），设为 0 则仅通过服务触发拍照
+    gps_topic: "/gps_info"
 
 /udp_sender:
   ros__parameters:
@@ -26,7 +34,7 @@
     sender_thread_name: "skylink_sender"
 
     # 相机相关（udp_sender 使用的 topic / 图像格式）
-    camera_topic: "/camera/image_raw/compressed"
+    camera_topic: "/camera/image_raw"
     camera_frame: "bgr8"
 
     # JPEG 压缩配置
@@ -50,17 +58,3 @@
     qos_keep_last: 10        # 增加消息队列深度
     enable_batch_send: true  # 启用批量发送优化
     send_interval_ms: 0      # 发送间隔（0 表示尽快发送）
-
-/device_info_sender:
-  ros__parameters:
-    info_port: 10000
-    target_ip: "255.255.255.255"
-    broadcast_interval_ms: 1000
-    enable_broadcast: true
-    enable_request_response: true
-    device_path: "/dev/video6"
-    device_name: "Unknown"
-    width: 1280
-    height: 720
-    framerate: 30.0
-    pixel_format: "YUYV"

skylink_ros2_ws/src/skylink_bridge_python/launch/bridge.launch.py

@@ -10,12 +10,12 @@ def generate_launch_description():
     SkyLink Bridge 启动配置
     
     用法:
-        ros2 launch skylink_bridge bridge.launch.py
-        ros2 launch skylink_bridge bridge.launch.py target_ip:=192.168.1.100 jpeg_quality:=80
+        ros2 launch skylink_bridge_python bridge.launch.py
+        ros2 launch skylink_bridge_python bridge.launch.py target_ip:=192.168.1.100 jpeg_quality:=80
     """
     
     # 获取包共享目录
-    pkg_share_dir = get_package_share_directory('skylink_bridge')
+    pkg_share_dir = get_package_share_directory('skylink_bridge_python')
     config_file = os.path.join(pkg_share_dir, 'config', 'params.yaml')
     
     # ========================================================================
@@ -34,18 +34,6 @@ def generate_launch_description():
         description='UDP 目标端口'
     )
     
-    jpeg_quality_arg = DeclareLaunchArgument(
-        'jpeg_quality',
-        default_value='70',
-        description='JPEG 压缩质量 (1-100)'
-    )
-    
-    camera_topic_arg = DeclareLaunchArgument(
-        'camera_topic',
-        default_value='/camera/image_raw',
-        description='相机 Topic 名称'
-    )
-    
     gps_topic_arg = DeclareLaunchArgument(
         'gps_topic',
         default_value='/mavros/global_position/global',
@@ -56,15 +44,12 @@ def generate_launch_description():
     # ========================================================================
 
     camera_driver_node = Node(
-        package='skylink_bridge',
+        package='skylink_bridge_python',
         executable='camera_driver_node',
         name='camera_driver',
         output='screen',
         parameters=[
             config_file,  # 从 YAML 配置文件加载参数
-            {
-                'camera_topic': LaunchConfiguration('camera_topic'),
-            }
         ],
     )
     
@@ -73,7 +58,7 @@ def generate_launch_description():
     # ========================================================================
     
     udp_sender_node = Node(
-        package='skylink_bridge',
+        package='skylink_bridge_python',
         executable='udp_sender_node',
         name='udp_sender',
         output='screen',
@@ -100,9 +85,7 @@ def generate_launch_description():
     return LaunchDescription([
         target_ip_arg,
         target_port_arg,
-        jpeg_quality_arg,
-        camera_topic_arg,
         gps_topic_arg,
         camera_driver_node,
-        udp_sender_node,
+        # udp_sender_node,
     ])

skylink_ros2_ws/src/skylink_bridge_python/package.xml

@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>skylink_bridge_python</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="737666956@qq.com">flower</maintainer>
+  <license>TODO: License declaration</license>
+
+
+  <test_depend>python3-pytest</test_depend>
+
+  <!-- ros2 依赖 -->  
+  <exec_depend>rclpy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>std_srvs</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+  <exec_depend>python3-opencv</exec_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

skylink_ros2_ws/src/skylink_bridge_python/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/skylink_bridge_python
+[install]
+install_scripts=$base/lib/skylink_bridge_python

skylink_ros2_ws/src/skylink_bridge_python/setup.py

@@ -0,0 +1,32 @@
+from setuptools import find_packages, setup
+
+package_name = 'skylink_bridge_python'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+        ('share/' + package_name + '/launch', ['launch/bridge.launch.py']),
+        ('share/' + package_name + '/config', ['config/params.yaml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='flower',
+    maintainer_email='737666956@qq.com',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    extras_require={
+        'test': [
+            'pytest',
+        ],
+    },
+    entry_points={
+        'console_scripts': [
+            'camera_driver_node = skylink_bridge_python.camera_driver_node:main'
+        ],
+    },
+)