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。

Co-authored-by: Cursor <cursoragent@cursor.com>

src/arm_application/arm_application/handeye_calibrate.py

@@ -137,7 +137,9 @@ class HandeyeCalibrate(TolerantNode):
         self.declare_parameter('pin_hold_sec', 0.45)        # 每拍多长
         self.declare_parameter('skip_unstable_poses', True)
 
-        self.declare_parameter('output_dir', '/home/cc/ros2/handeye/tmp')
+        from arm_application.site_io import ros2_root
+
+        self.declare_parameter('output_dir', str(ros2_root() / 'handeye' / 'tmp'))
         self.declare_parameter('result_file', '')
         self.declare_parameter('cleanup_images', True)
         # 眼在手上：AX=XB 的 gripper 用 Studio 工具 TCP，再折成 cam→法兰写 T_4x4。

src/arm_application/arm_application/handeye_teach.py

@@ -108,10 +108,12 @@ class RdkBridge:
         self.robot_sn = robot_sn
         self._last_q: Optional[List[float]] = None
         self._io = threading.Lock()
-        py = os.environ.get('RDK_PYTHON', '/home/cc/rdk_py310/bin/python')
-        bridge = Path.home() / 'ros2' / 'scripts' / 'rdk_drag_bridge.py'
-        if not bridge.is_file():
-            bridge = Path('/home/cc/ros2/scripts/rdk_drag_bridge.py')
+        from arm_application.site_io import ros2_root
+
+        py = os.environ.get('RDK_PYTHON', '').strip() or str(
+            Path.home() / 'rdk_py310' / 'bin' / 'python'
+        )
+        bridge = ros2_root() / 'scripts' / 'rdk_drag_bridge.py'
         if not bridge.is_file():
             raise FileNotFoundError(f'找不到 rdk_drag_bridge.py：{bridge}')
 
@@ -246,7 +248,9 @@ class RdkBridge:
 class HandeyeTeach(TolerantNode):
     def __init__(self) -> None:
         super().__init__('handeye_teach')
-        self.declare_parameter('output_dir', '/home/cc/ros2/handeye/tmp')
+        from arm_application.site_io import ros2_root
+
+        self.declare_parameter('output_dir', str(ros2_root() / 'handeye' / 'tmp'))
         self.declare_parameter('width', 1280)
         self.declare_parameter('height', 720)
         self.declare_parameter('fps', 15)

src/arm_application/arm_application/perception_node.py

@@ -105,7 +105,7 @@ class PerceptionNode(TolerantNode):
         self.declare_parameter("image_topic", "")
         self.declare_parameter("camera_info_topic", "")
         self.declare_parameter("depth_topic", "/d405/aligned_depth_to_color/image_raw")
-        self.declare_parameter("weights", "/home/cc/ros2/models/yolo/gongjian0929.onnx")
+        self.declare_parameter("weights", "models/yolo/gongjian0929.onnx")
         self.declare_parameter("conf", 0.10)
         self.declare_parameter("iou", 0.45)
         self.declare_parameter("imgsz", 640)
@@ -336,7 +336,9 @@ class PerceptionNode(TolerantNode):
             r_pos=float(self.get_parameter("kf_r_pos").value),
         )
 
-        weights_raw = str(self.get_parameter("weights").value)
+        from arm_application.site_io import resolve_repo_path
+
+        weights_raw = resolve_repo_path(str(self.get_parameter("weights").value))
         weights = str(resolve_weights(weights_raw, self.backend_name))
         yolo_cfg = {
             "weights": weights,

src/arm_application/arm_application/realsense_color_pub.py

@@ -73,15 +73,9 @@ def _fill_camera_info(
 
 
 def _site_yaml_path() -> Path:
-    env = str(os.environ.get("SITE_CONFIG") or "").strip()
-    if env:
-        p = Path(env).expanduser()
-        if p.is_file():
-            return p
-    home = Path.home() / "ros2" / "config" / "site.yaml"
-    if home.is_file():
-        return home
-    return Path("/home/cc/ros2/config/site.yaml")
+    from arm_application.site_io import site_path
+
+    return site_path()
 
 
 class RealsenseColorPub(TolerantNode):

src/arm_application/arm_application/servo_node.py

@@ -126,7 +126,7 @@ class ServoNode(TolerantNode):
         self.declare_parameter("point_topic", "visual_servo/filtered_point")
         # 默认值只作兜底：真机运行一定由 launch 传入 site.yaml 的 paths.handeye_file。
         # 指向 /tmp 是历史遗留（标定临时产物），会让人误以为"标定结果在那里"。
-        self.declare_parameter("handeye_file", "/home/cc/ros2/handeye/results/89_eye_in_hand.yaml")
+        self.declare_parameter("handeye_file", "handeye/results/89_eye_in_hand.yaml")
         # eye_in_hand = cam→法兰；eye_to_hand = cam→基座。写错会把固定相机当腕部用。
         self.declare_parameter("handeye_mode", "eye_in_hand")
         self.declare_parameter("use_static_handeye_tf", False)
@@ -374,9 +374,10 @@ class ServoNode(TolerantNode):
         self.ws_min = np.array([float(v) for v in ws_min[:3]], dtype=float)
         self.ws_max = np.array([float(v) for v in ws_max[:3]], dtype=float)
 
-        self.T_cam_to_gripper = load_handeye_T(
-            str(self.get_parameter("handeye_file").value)
-        )
+        from arm_application.site_io import resolve_repo_path
+
+        handeye_path = resolve_repo_path(str(self.get_parameter("handeye_file").value))
+        self.T_cam_to_gripper = load_handeye_T(handeye_path)
         self.handeye_mode = str(
             self.get_parameter("handeye_mode").value or "eye_in_hand"
         ).strip().lower()
@@ -399,7 +400,7 @@ class ServoNode(TolerantNode):
         t_he = np.asarray(self.T_cam_to_gripper[:3, 3], dtype=float)
         axis_z = float(np.clip(R_he[2, 2], -1.0, 1.0))
         self._cam_tilt_deg = float(np.degrees(np.arccos(axis_z)))
-        he_path = str(self.get_parameter("handeye_file").value)
+        he_path = handeye_path
         if self.handeye_mode == "eye_to_hand":
             self.get_logger().warn(
                 f"HANDEYE yaml={he_path} mode=eye_to_hand "

src/arm_application/arm_application/site_io.py

@@ -10,13 +10,83 @@ import yaml
 
 
 def ros2_root() -> Path:
+    """仓库根目录。先看环境变量，再从本文件向上找 ``config/site.yaml``。
+
+    不能默认 ``~/ros2``：别人把仓库克隆到别的目录时，写死的家目录路径是空的，
+    启动会报文件不存在。
+    """
     for key in ("SITE_ROS2_ROOT", "ROS2_WS"):
         v = os.environ.get(key, "").strip()
         if v:
             return Path(v).expanduser()
+    here = Path(__file__).resolve()
+    for parent in here.parents:
+        if (parent / "config" / "site.yaml").is_file() and (parent / "scripts" / "env.sh").is_file():
+            return parent
     return Path.home() / "ros2"
 
 
+_PATH_KEYS = frozenset({
+    "named_poses_file",
+    "handeye_file",
+    "handeye_waypoints",
+    "handeye_workdir",
+    "handeye_calibrate",
+    "yolo_weights",
+    "hole_weights",
+    "weights",
+    "workpiece_weights",
+    "config_file",
+    "append_poses_file",
+})
+
+
+def resolve_repo_path(value: str, root: Path | None = None) -> str:
+    """仓库内的相对路径展开成绝对路径。已经是绝对路径的原样保留。"""
+    text = str(value or "").strip()
+    if not text:
+        return ""
+    path = Path(text).expanduser()
+    if path.is_absolute():
+        return str(path)
+    base = root or ros2_root()
+    return str((base / path).resolve())
+
+
+def _is_path_key(key: str) -> bool:
+    return (
+        key in _PATH_KEYS
+        or key.startswith("handeye_file")
+        or key.startswith("handeye_waypoints")
+        or key.endswith("_weights")
+        or key.endswith("_file")
+        or key.endswith("_workdir")
+    )
+
+
+def absolutize_site_paths(data: Any, root: Path | None = None) -> Any:
+    """把 site 里的仓库相对路径展开。只动路径字段，不动别的字符串。"""
+    base = root or ros2_root()
+    if isinstance(data, dict):
+        out: dict[Any, Any] = {}
+        for key, val in data.items():
+            name = str(key)
+            if isinstance(val, str) and _is_path_key(name):
+                out[key] = resolve_repo_path(val, base)
+            elif (
+                name == "config"
+                and isinstance(val, str)
+                and (val.endswith((".yaml", ".yml", ".json")) or "/" in val)
+            ):
+                out[key] = resolve_repo_path(val, base)
+            else:
+                out[key] = absolutize_site_paths(val, base)
+        return out
+    if isinstance(data, list):
+        return [absolutize_site_paths(item, base) for item in data]
+    return data
+
+
 def site_path() -> Path:
     env = os.environ.get("SITE_CONFIG", "").strip()
     if env:
@@ -29,7 +99,11 @@ def load_site_dict(path: str | Path | None = None) -> dict[str, Any]:
     if not p.is_file():
         return {}
     data = yaml.safe_load(p.read_text(encoding="utf-8")) or {}
-    return data if isinstance(data, dict) else {}
+    if not isinstance(data, dict):
+        return {}
+    resolved = p.resolve()
+    root = resolved.parent.parent if resolved.parent.name == "config" else ros2_root()
+    return absolutize_site_paths(data, root)
 
 
 def deep_merge(base: dict[str, Any], overlay: dict[str, Any]) -> dict[str, Any]:

src/arm_application/config/perception.yaml

@@ -12,7 +12,7 @@ perception_node:
     image_topic: ""
     camera_info_topic: ""
     depth_topic: "/d405/aligned_depth_to_color/image_raw"
-    weights: "/home/cc/ros2/models/yolo/gongjian0929.onnx"
+    weights: "models/yolo/gongjian0929.onnx"
     conf: 0.10
     iou: 0.45
     imgsz: 640

src/arm_application/config/servo.yaml

@@ -10,7 +10,7 @@ servo_node:
     camera_frame: "d405_color_optical_frame"
     traj_topic: "rizon_arm_controller/joint_trajectory"
     point_topic: "visual_servo/filtered_point"
-    handeye_file: "/home/cc/ros2/src/arm_application/config/handeye_result.yaml"
+    handeye_file: "src/arm_application/config/handeye_result.yaml"
     use_static_handeye_tf: false
     handeye_child_frame: "d405_color_optical_frame"