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