Initial import of ORISYS arm workstation

scripts/build_real.sh

@@ -0,0 +1,40 @@
+#!/usr/bin/env bash
+# 构建真机用的 Flexiv 硬件包（前提：RDK 已装到 ~/flexiv_install）
+set -eo pipefail
+
+ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
+cd "$ROOT"
+
+if [[ -f "${HOME}/anaconda3/etc/profile.d/conda.sh" ]]; then
+  # shellcheck disable=SC1091
+  source "${HOME}/anaconda3/etc/profile.d/conda.sh"
+elif [[ -f "${HOME}/miniconda3/etc/profile.d/conda.sh" ]]; then
+  # shellcheck disable=SC1091
+  source "${HOME}/miniconda3/etc/profile.d/conda.sh"
+  set +u
+  conda activate ros_flexiv 2>/dev/null || true
+  set -u 2>/dev/null || true
+fi
+
+if [[ -z "${ROS_DISTRO:-}" ]]; then
+  # shellcheck disable=SC1091
+  source /opt/ros/humble/setup.bash 2>/dev/null || source /opt/ros/jazzy/setup.bash 2>/dev/null || true
+fi
+
+PREFIX="${HOME}/flexiv_install"
+CMAKE_PREFIX="${PREFIX}"
+if [[ -n "${CONDA_PREFIX:-}" ]]; then
+  CMAKE_PREFIX="${PREFIX};${CONDA_PREFIX}"
+fi
+
+export CXXFLAGS="${CXXFLAGS:-} -include cstdint -Wno-template-body"
+colcon build --symlink-install --packages-select \
+  flexiv_hardware \
+  flexiv_msgs \
+  flexiv_gripper \
+  flexiv_test_nodes \
+  flexiv_robot_states_broadcaster \
+  flexiv_bringup \
+  --cmake-args "-DCMAKE_PREFIX_PATH=${CMAKE_PREFIX}" "$@"
+
+echo "Real stack build done. source ${ROOT}/scripts/env.sh"