Initial import of ORISYS arm workstation

2026-10-16 17:27:30 +08:00
commit 2b74c50ba8
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+#!/usr/bin/env bash
+# 两臂之间的顶置 D435（`eye-to-hand`，相机固定在外）。
+# 可以和 run_camera_d405.sh 同时开：只杀 camera_name:=d435，不动腕部那台。
+#
+#   bash ~/ros2/scripts/run_camera_d435.sh --preview
+#
+set -eo pipefail
+ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
+PREVIEW=1
+while [[ $# -gt 0 ]]; do
+  case "$1" in
+    --preview) PREVIEW=1; shift ;;
+    --no-preview) PREVIEW=0; shift ;;
+    -h|--help) sed -n '2,8p' "$0"; exit 0 ;;
+    *) echo "Unknown: $1" >&2; exit 1 ;;
+  esac
+done
+# shellcheck disable=SC1091
+source "${ROOT}/scripts/env.sh"
+# 用源码里的采集逻辑，不走 install 里那份旧的。install 的入口仍由 ros2 run 找到。
+export PYTHONPATH="${ROOT}/src/arm_application${PYTHONPATH:+:${PYTHONPATH}}"
+# shellcheck disable=SC1091
+source "${ROOT}/scripts/lib/load_site_config.sh"
+SN="${SITE_D435_SERIAL:-}"
+if [[ -z "${SN}" ]]; then
+  echo "ERROR: cameras.d435.serial empty in site.yaml" >&2
+  exit 2
+fi
+echo "=== D435 overhead serial=${SN}  ${SITE_D435_WIDTH:-1280}x${SITE_D435_HEIGHT:-720}@${SITE_D435_FPS:-30} ==="
+# 只杀顶视这一台。不要 pkill 全部 realsense_view —— 那会把正在看的 D405 预览窗干掉，
+# 绿框叠在 D405 窗口上，窗没了就像"伺服没画面、也没工件框"。
+pkill -f "camera_name:=d435( |$)" 2>/dev/null || true
+CAM_ARGS=(
+  --ros-args
+  -p camera_name:=d435
+  -p camera_serial:="${SN}"
+  -p width:="${SITE_D435_WIDTH:-1280}"
+  -p height:="${SITE_D435_HEIGHT:-720}"
+  -p fps:="${SITE_D435_FPS:-30}"
+  -p enable_depth:=true
+  -p enable_infra:=false
+  -p preview_stereo:=false
+  -p auto_exposure:=true
+  -p ae_limit_us:=8000
+  -p emitter_enabled:=true
+)
+if [[ "${PREVIEW}" == "1" ]]; then
+  ros2 run arm_application realsense_color_pub "${CAM_ARGS[@]}" -p show_preview:=false &
+  CAM_PID=$!
+  trap 'kill "${CAM_PID}" 2>/dev/null || true' EXIT INT TERM
+  # 绿框来自 workpiece/detection_overhead（D435 像素）。不要订 workpiece/detection。
+  ros2 run arm_application realsense_view --ros-args \
+    -p camera_name:=d435 \
+    -p overlay_detection:=true \
+    -p detection_topic:=workpiece/detection_overhead \
+    -p overlay_hold_sec:=1.5 \
+    -p hud_label:="D435 顶视"
+else
+  exec ros2 run arm_application realsense_color_pub "${CAM_ARGS[@]}"
+fi