chore: 框架科学优化前的完整基线

在开始'设备契约层 + 目录重构 + 通止规装配'改造之前，先钉住当前可运行状态，使后续任何删除/重构都可回退。本基线包含： - 现有 ROS 2 工作区全部源码（arm_application / arm_control / arm_bringup 等） - 官方 flexiv_ros2 栈（含 flexiv_hardware / flexiv_controllers 等符号链接） - 设备契约层 src/arm_interfaces（新增，46 项单测通过） - devices/ 设备选型与品牌清单（新增） - scripts/gen_site_example.py 与由它生成的 config/site.example.yaml 按 .gitignore 排除：build/ / install/ / log/ / config/site.yaml / 模型权重二进制。
2026-09-23 10:53:06 +08:00
commit 6edb8d39ab
635 changed files with 1165230 additions and 0 deletions
@@ -0,0 +1,90 @@
+#!/usr/bin/env bash
+# Export YOLO .pt/.onnx → TensorRT .engine (FP16).
+#
+#   bash ~/ros2/scripts/export_yolo_trt.sh
+#   bash ~/ros2/scripts/export_yolo_trt.sh /home/cc/ros2/models/yolo/detect_best.onnx 640
+#
+# Needs: tensorrt-cu12 + onnx + onnxslim in ros_flexiv (do NOT pip install
+# the meta package `tensorrt`, it pulls CUDA 13 wheels).
+# Then set yolo.backend: tensorrt in site.yaml and restart visual servo.
+
+set -eo pipefail
+ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
+# shellcheck disable=SC1091
+source "${ROOT}/scripts/lib/load_site_config.sh"
+
+PT="${1:-${SITE_YOLO_WEIGHTS:-${ROOT}/models/yolo/detect_best.onnx}}"
+IMGSZ="${2:-${SITE_YOLO_IMGSZ:-640}}"
+PY="${HOME}/anaconda3/envs/ros_flexiv/bin/python"
+
+if [[ ! -f "${PT}" ]]; then
+  echo "ERROR: weights not found: ${PT}" >&2
+  exit 1
+fi
+
+# Pip TensorRT shared libs (needed at export + runtime).
+TRT_LIBS="$("${PY}" - <<'PY'
+import pathlib, tensorrt
+p = pathlib.Path(tensorrt.__file__).resolve().parent
+cands = [p, p.parent / "tensorrt_libs", p.parent / "nvidia" / "tensorrt" / "lib"]
+print(":".join(str(x) for x in cands if x.exists()))
+PY
+)"
+export LD_LIBRARY_PATH="${TRT_LIBS}${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}}"
+export YOLO_AUTOINSTALL=false
+
+echo "Export TensorRT engine from ${PT}  imgsz=${IMGSZ}"
+"${PY}" - <<PY
+from pathlib import Path
+import tensorrt as trt
+
+src = Path("${PT}").expanduser()
+print("tensorrt", trt.__version__)
+print("source", src)
+engine_path = src.with_suffix(".engine")
+
+if src.suffix.lower() == ".onnx":
+    logger = trt.Logger(trt.Logger.INFO)
+    flag = 1 << int(trt.NetworkDefinitionCreationFlag.EXPLICIT_BATCH)
+    builder = trt.Builder(logger)
+    network = builder.create_network(flag)
+    parser = trt.OnnxParser(network, logger)
+    raw = src.read_bytes()
+    if not parser.parse(raw):
+        for i in range(parser.num_errors):
+            print("ONNX parse error:", parser.get_error(i))
+        raise SystemExit("ONNX parse failed")
+    config = builder.create_builder_config()
+    config.set_memory_pool_limit(trt.MemoryPoolType.WORKSPACE, 4 << 30)
+    if builder.platform_has_fast_fp16:
+        config.set_flag(trt.BuilderFlag.FP16)
+        print("FP16 enabled")
+    serialized = builder.build_serialized_network(network, config)
+    if serialized is None:
+        raise SystemExit("TensorRT build failed")
+    engine_path.write_bytes(bytes(serialized))
+    print("wrote", engine_path)
+else:
+    from ultralytics import YOLO
+    m = YOLO(str(src))
+    try:
+        out = m.export(
+            format="engine",
+            imgsz=int("${IMGSZ}"),
+            device=0,
+            quantize=16,
+            simplify=True,
+            workspace=4,
+        )
+    except TypeError:
+        out = m.export(
+            format="engine",
+            imgsz=int("${IMGSZ}"),
+            device=0,
+            half=True,
+            simplify=True,
+            workspace=4,
+        )
+    print("wrote", out)
+PY
+echo "Done. Restart: bash ~/ros2/scripts/run_visual_servo_rt.sh --control"