cheng
43 lines
1.6 KiB
Bash
Executable File
43 lines
1.6 KiB
Bash
Executable File
#!/usr/bin/env bash
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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 "${ROS_DISTRO:-}" ]]; then
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if [[ -f /opt/ros/jazzy/setup.bash ]]; then
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# shellcheck disable=SC1091
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source /opt/ros/jazzy/setup.bash
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elif [[ -f /opt/ros/humble/setup.bash ]]; then
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# shellcheck disable=SC1091
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source /opt/ros/humble/setup.bash
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elif [[ -f /opt/ros/iron/setup.bash ]]; then
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# shellcheck disable=SC1091
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source /opt/ros/iron/setup.bash
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else
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echo "未检测到系统 ROS 2；使用 conda ros_flexiv 环境"
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fi
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fi
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PACKAGES=(flexiv_description arm_msgs arm_description arm_kinematics arm_interfaces arm_control arm_driver_flexiv arm_bringup arm_application)
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# conda GCC 15 把 Humble 消息头里缺的 cstdint 当成错误。补上这个头，仍用 conda 编译器，
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# 才能和 ros_flexiv 里的 librclcpp 链在一起。
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export CXXFLAGS="${CXXFLAGS:-} -include cstdint -Wno-template-body"
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colcon build --symlink-install --packages-select "${PACKAGES[@]}" "$@"
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# shellcheck source=lib/fix_shebangs.sh
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source "${ROOT}/scripts/lib/fix_shebangs.sh"
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fix_shebangs "${ROOT}/install" "${CONDA_PREFIX:-/usr}/bin/python3"
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echo "构建完成。请执行: source ${ROOT}/install/setup.bash"
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