cheng
34 lines
969 B
Bash
Executable File
34 lines
969 B
Bash
Executable File
#!/usr/bin/env bash
|
|
# 构建整个工作区：机械臂栈 + Flexiv 真机驱动
|
|
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 "${ROS_DISTRO:-}" ]]; then
|
|
# shellcheck disable=SC1091
|
|
source /opt/ros/humble/setup.bash 2>/dev/null || source /opt/ros/jazzy/setup.bash 2>/dev/null || true
|
|
fi
|
|
|
|
echo "=== [1/2] arm stack ==="
|
|
bash "${ROOT}/scripts/build.sh"
|
|
|
|
echo "=== [2/2] flexiv real stack ==="
|
|
bash "${ROOT}/scripts/build_real.sh"
|
|
|
|
echo ""
|
|
echo "Done. Use:"
|
|
echo " source ${ROOT}/scripts/env.sh"
|
|
echo " bash ${ROOT}/scripts/run_real.sh"
|