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换台电脑克隆后启动失败，是因为 site 和启动脚本写死了 /home/cc/ros2。仓库内路径改成相对仓库根，加载时再展开；缺 install 时先说明要编译，而不是 source 一个不存在的文件。

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Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
arm_dev
2026-10-15 10:51:24 +08:00
parent ab73399426
commit 3c86441fb0
25 changed files with 254 additions and 91 deletions
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scripts/env.sh
+6 -2
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@@ -30,8 +30,12 @@ if [[ -f "${HOME}/anaconda3/etc/profile.d/conda.sh" ]]; then
unset _env_helper
fi
# shellcheck disable=SC1091
source "${ROOT}/install/setup.bash"
if [[ -f "${ROOT}/install/setup.bash" ]]; then
# shellcheck disable=SC1091
source "${ROOT}/install/setup.bash"
else
echo "警告：${ROOT}/install 还没编译。工位窗口可以先开；真机栈要先在仓库根目录 colcon build（不要在中文路径下编）。" >&2
fi
export LD_LIBRARY_PATH="${HOME}/flexiv_install/lib:${LD_LIBRARY_PATH:-}"
# pip 版 TensorRT（tensorrt-cu12）—— 加载 YOLO `.engine` 需要它
_TRT_SITE="${CONDA_PREFIX:-${HOME}/anaconda3/envs/ros_flexiv}/lib/python3.11/site-packages"
scripts/gen_site_example.py
+2 -2
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@@ -51,8 +51,8 @@ HEADER = """\
# 用法：复制本文件为 config/site.yaml，然后把所有 <占位符> 换成现场实际值。
# 现场值包括：机械臂 SN / IP、相机序列号、夹爪串口、传感器 USB 路径。
#
# 说明：site.yaml 里的路径出现 /home/USER 是因为生成时匿名化了用户名；
# 部署时请改成实际用户的 home 目录。
# 说明：仓库里的文件用相对仓库根的路径（例如 models/yolo/...）。
# 不要改回某个用户的绝对家目录，换台电脑就会找不到文件。
# =============================================================================
"""
scripts/install_rdk_offline.sh
+1 -1
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@@ -99,6 +99,6 @@ Next:
--packages-up-to flexiv_bringup flexiv_hardware arm_bringup
Python (already ready, no GitHub):
/home/cc/rdk_py310/bin/python
\${HOME}/rdk_py310/bin/python
bash ${ROOT}/scripts/test_rdk_python.sh
EOF
scripts/lib/dev_tools.sh
+31
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@@ -0,0 +1,31 @@
# 本机工具链。仓库位置用调用方已经算好的 ROOT，不写死某个用户的家目录。
# 用法：source "${ROOT}/scripts/lib/dev_tools.sh"
dev_source_conda() {
local cand
for cand in \
"${HOME}/anaconda3/etc/profile.d/conda.sh" \
"${HOME}/miniconda3/etc/profile.d/conda.sh"
do
if [[ -f "${cand}" ]]; then
# shellcheck disable=SC1090
source "${cand}"
return 0
fi
done
echo "ERROR: 找不到 conda.sh。试过 \$HOME/anaconda3 和 \$HOME/miniconda3。" >&2
return 1
}
dev_rdk_python() {
if [[ -n "${RDK_PYTHON:-}" && -x "${RDK_PYTHON}" ]]; then
printf '%s\n' "${RDK_PYTHON}"
return 0
fi
if [[ -x "${HOME}/rdk_py310/bin/python" ]]; then
printf '%s\n' "${HOME}/rdk_py310/bin/python"
return 0
fi
echo "ERROR: 找不到 RDK 的 Python。设置 RDK_PYTHON，或装到 \$HOME/rdk_py310。" >&2
return 1
}
scripts/lib/export_site_env.py
+7 -1
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@@ -42,7 +42,13 @@ def load_site(path: Path | None = None) -> dict:
data = yaml.safe_load(text) or {}
if not isinstance(data, dict):
raise ValueError(f"无效的 site.yaml: {path}")
return data
# 相对路径按仓库根展开。site.yaml 里不再写 /home/某用户/ros2。
src = str(_root() / "src" / "arm_application")
if src not in sys.path:
sys.path.insert(0, src)
from arm_application.site_io import absolutize_site_paths
return absolutize_site_paths(data, _root())
def list_robots(data: dict) -> list[dict]:
scripts/lib/real_preflight.py
+9 -1
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@@ -55,7 +55,15 @@ LEVEL_FAIL = "fail"
#: 级别排序：fail 最先报
_LEVEL_RANK = {LEVEL_FAIL: 0, LEVEL_WARN: 1, LEVEL_OK: 2}
DEFAULT_RDK_PYTHON = os.environ.get("RDK_PYTHON") or "/home/cc/rdk_py310/bin/python"
def default_rdk_python() -> str:
"""RDK 解释器。环境变量优先，否则用当前用户家目录下的 rdk_py310。"""
env = os.environ.get("RDK_PYTHON", "").strip()
if env:
return env
return str(Path.home() / "rdk_py310" / "bin" / "python")
DEFAULT_RDK_PYTHON = default_rdk_python()
#: 上一轮没退干净的进程特征。留着它们会让这一轮的错误指向别处：
#: · ros2_control_node 占着 RDK（同一个 SN 是独占访问）
scripts/rdk_release_movel.py
+3 -1
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@@ -23,7 +23,9 @@ sys.path.insert(0, str(ROOT / "scripts" / "lib"))
from rdk_release import is_control_stack_cmd # noqa: E402
RDK_PYTHON = os.environ.get("RDK_PYTHON", "/home/cc/rdk_py310/bin/python")
RDK_PYTHON = os.environ.get("RDK_PYTHON", "").strip() or str(
Path.home() / "rdk_py310" / "bin" / "python"
)
def _procs() -> list[tuple[int, str]]:
scripts/rdk_switch_tool.sh
+3 -1
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@@ -12,7 +12,9 @@ ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
# shellcheck disable=SC1091
source "${ROOT}/scripts/lib/load_site_config.sh"
RDK_PYTHON="${RDK_PYTHON:-/home/cc/rdk_py310/bin/python}"
# shellcheck disable=SC1091
source "${ROOT}/scripts/lib/dev_tools.sh"
RDK_PYTHON="$(dev_rdk_python)"
SN="${ROBOT_SN:-${SITE_ROBOT_SN:-}}"
NAME="${SITE_ROBOT_TOOL_NAME:-}"
IFACE="${SITE_NET_IFACE:-}"
scripts/run_all.sh
+3 -1
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@@ -139,7 +139,9 @@ if [[ "${D435_ONLY}" == true ]]; then
fi
echo "=== MoveL：XY 对准 K0，工具尖高度保持当前（K0 的 z 是工件表面）==="
# --go：不按直线距离拦截。800 mm 是脚本自己的保护，不是机械臂限位。
exec /home/cc/rdk_py310/bin/python "${ROOT}/scripts/rdk_goto_xyz.py" \
# shellcheck disable=SC1091
source "${ROOT}/scripts/lib/dev_tools.sh"
exec "$(dev_rdk_python)" "${ROOT}/scripts/rdk_goto_xyz.py" \
--xyz "${kx}" "${ky}" "${kz}" --keep-z --go --vel 0.05
fi
scripts/run_mock_demo.sh
+8 -1
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@@ -1,8 +1,15 @@
#!/usr/bin/env bash
set -euo pipefail
ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
source /home/cc/anaconda3/etc/profile.d/conda.sh
# shellcheck disable=SC1091
source "${ROOT}/scripts/lib/dev_tools.sh"
dev_source_conda
conda activate ros_flexiv
if [[ ! -f "${ROOT}/install/setup.bash" ]]; then
echo "ERROR: ${ROOT}/install/setup.bash 不存在。先在仓库根目录 colcon build。" >&2
exit 1
fi
# shellcheck disable=SC1091
source "${ROOT}/install/setup.bash"
ros2 run arm_application demo_named_poses --ros-args \
-p "poses:=['home','ready','inspect','pos_left','home']" \
scripts/run_real.sh
+8 -2
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@@ -26,8 +26,14 @@ while [[ $# -gt 0 ]]; do
esac
done
source /home/cc/anaconda3/etc/profile.d/conda.sh
# shellcheck disable=SC1091
source "${ROOT}/scripts/lib/dev_tools.sh"
dev_source_conda
conda activate ros_flexiv
if [[ ! -f "${ROOT}/install/setup.bash" ]]; then
echo "ERROR: ${ROOT}/install/setup.bash 不存在。先在仓库根目录 colcon build，不要在中文路径下编。" >&2
exit 1
fi
# shellcheck disable=SC1091
source "${ROOT}/install/setup.bash"
# shellcheck disable=SC1091
@@ -44,7 +50,7 @@ export LD_LIBRARY_PATH="${FLEXIV_PREFIX}/lib:${LD_LIBRARY_PATH:-}"
ROBOT_SN="${SITE_ROBOT_SN:?run_real.sh 需要已配置的机械臂 SN —— 见 scripts/lib/load_site_config.sh 的报错}"
ROBOT_IP="${ROBOT_IP:-${SITE_ROBOT_IP:-192.168.100.1}}"
NET_IFACE="${SITE_NET_IFACE:-}"
RDK_PYTHON="${RDK_PYTHON:-/home/cc/rdk_py310/bin/python}"
RDK_PYTHON="$(dev_rdk_python)"
if [[ "${LIST_ONLY}" == true ]]; then
python3 "${ROOT}/scripts/lib/export_site_env.py" --print
scripts/show_site_config.sh
+1 -1
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@@ -14,7 +14,7 @@ python3 "${ROOT}/scripts/lib/export_site_env.py" --print ${ROBOT_SN:+--sn "$ROBO
echo
echo "Edit: ${SITE_CONFIG:-$ROOT/config/site.yaml}"
echo "Switch weights:"
echo " paths.yolo_weights: \"/home/cc/ros2/models/yolo/detect_best_0.onnx\" # 写 onnx 或 pt 均可"
echo " paths.yolo_weights: \"models/yolo/detect_best_0.onnx\" # 相对仓库根，写 onnx 或 pt 均可"
echo " 改完确认标签和 engine 都对："
echo " bash ~/ros2/scripts/weights.sh list"
echo " bash ~/ros2/scripts/weights.sh doctor --check-engines"
scripts/test_rdk_python.sh
+3 -1
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@@ -8,7 +8,9 @@ source "${ROOT}/scripts/lib/load_site_config.sh" 2>/dev/null || true
SN="${1:-${ROBOT_SN:-${SITE_ROBOT_SN:-}}}"
ROBOT_IP="${ROBOT_IP:-${SITE_ROBOT_IP:-192.168.100.1}}"
IFACE="${SITE_NET_IFACE:-}"
PY="${RDK_PYTHON:-/home/cc/rdk_py310/bin/python}"
# shellcheck disable=SC1091
source "${ROOT}/scripts/lib/dev_tools.sh"
PY="$(dev_rdk_python)"
echo "Using: ${PY}"
echo "Robot SN: ${SN} IP: ${ROBOT_IP} iface: ${IFACE:-auto}"