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。
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arm_dev
Executable
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#!/usr/bin/env bash
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# Clone official Flexiv ROS 2 stack for Rizon (RDK v1.x → humble-v1 branch).
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set -euo pipefail
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ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
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SRC="${ROOT}/src"
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BRANCH="${FLEXIV_ROS2_BRANCH:-humble-v1}"
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mkdir -p "${SRC}"
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cd "${SRC}"
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# Always ensure official URDF package is present (meshes + xacro)
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if [[ ! -d flexiv_description ]]; then
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echo "Fetching flexiv_description (${BRANCH})..."
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if ! git clone --depth 1 -b "${BRANCH}" https://github.com/flexivrobotics/flexiv_description.git; then
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echo "git clone slow/failed — downloading zip..."
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python3 - <<PY
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import urllib.request, socket, zipfile, io, shutil, os
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url = "https://codeload.github.com/flexivrobotics/flexiv_description/zip/refs/heads/${BRANCH}"
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old = socket.getaddrinfo
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socket.getaddrinfo = lambda h, p, f=0, t=0, pr=0, fl=0: [ai for ai in old(h, p, socket.AF_INET, t, pr, fl)]
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data = urllib.request.urlopen(urllib.request.Request(url, headers={"User-Agent": "Mozilla/5.0"}), timeout=300).read()
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dest = "${SRC}/flexiv_description"
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with zipfile.ZipFile(io.BytesIO(data)) as z:
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z.extractall("/tmp")
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shutil.rmtree(dest, ignore_errors=True)
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shutil.move("/tmp/flexiv_description-${BRANCH}", dest)
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print("flexiv_description ready at", dest)
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PY
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fi
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else
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echo "flexiv_description already present"
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fi
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if [[ ! -d flexiv_ros2 ]]; then
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echo "Cloning flexiv_ros2 (${BRANCH})..."
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git clone https://github.com/flexivrobotics/flexiv_ros2.git -b "${BRANCH}"
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else
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echo "flexiv_ros2 already present — pull if needed: git -C flexiv_ros2 pull"
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fi
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REPOS_FILE=""
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for candidate in flexiv_ros2/flexiv.humble.repos flexiv_ros2/flexiv.repos; do
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if [[ -f "${candidate}" ]]; then
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REPOS_FILE="${candidate}"
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break
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fi
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done
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if [[ -z "${REPOS_FILE}" ]]; then
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echo "ERROR: no .repos file found under flexiv_ros2"
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exit 1
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fi
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echo "Importing dependencies from ${REPOS_FILE}..."
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if ! command -v vcs >/dev/null 2>&1; then
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echo "Please install: sudo apt install python3-vcstool"
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exit 1
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fi
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# Prefer local Flexiv_Rizon4 RDK (avoids GitHub clone when present)
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LOCAL_FLEXIV="${LOCAL_FLEXIV:-$HOME/文档/Flexiv_Rizon4}"
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if [[ -d "${LOCAL_FLEXIV}/flexiv_rdk" ]]; then
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echo "Using local RDK: ${LOCAL_FLEXIV}/flexiv_rdk"
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bash "${ROOT}/scripts/use_local_flexiv.sh"
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elif [[ -d flexiv_rdk ]]; then
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touch flexiv_rdk/COLCON_IGNORE
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else
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echo "Importing flexiv_rdk from ${REPOS_FILE}..."
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vcs import "${SRC}" < "${REPOS_FILE}" --recursive --skip-existing
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if [[ -d flexiv_rdk ]]; then
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touch flexiv_rdk/COLCON_IGNORE
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fi
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fi
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# Always import remaining deps from repos (description already handled; skip-existing)
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vcs import "${SRC}" < "${REPOS_FILE}" --recursive --skip-existing || true
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cat <<EOF
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Done. Next steps (Ubuntu 22.04 / Humble + Rizon):
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Local RDK wired via: scripts/use_local_flexiv.sh
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src/flexiv_rdk -> ${LOCAL_FLEXIV}/flexiv_rdk (your copy, often RDK 2.x)
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src/flexiv_rdk_v1 -> RDK 1.9.1 for flexiv_ros2 humble-v1 (if present)
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1) Install ROS deps:
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sudo apt install -y python3-colcon-common-extensions python3-vcstool \\
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ros-humble-ros2-control ros-humble-ros2-controllers \\
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ros-humble-moveit ros-humble-xacro ros-humble-joint-state-publisher-gui
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2) Build & install RDK **v1.9.1** into ~/flexiv_install (for flexiv_hardware):
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RDK_SRC=${SRC}/flexiv_rdk_v1
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# fallback if only one tree: RDK_SRC=${SRC}/flexiv_rdk
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cd \${RDK_SRC}/thirdparty
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source /opt/ros/humble/setup.bash # or: conda activate ros_flexiv
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bash build_and_install_dependencies_not_in_ros2.sh ~/flexiv_install
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cd \${RDK_SRC} && rm -rf build && mkdir build && cd build
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cmake .. -DCMAKE_INSTALL_PREFIX=~/flexiv_install -DCMAKE_PREFIX_PATH=~/flexiv_install
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cmake --build . --target install --config Release
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3) Build this workspace:
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cd ${ROOT}
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source /opt/ros/humble/setup.bash
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colcon build --symlink-install --cmake-args -DCMAKE_PREFIX_PATH=~/flexiv_install
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source install/setup.bash
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4) Real robot (site SN, no gripper yet):
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ros2 launch arm_bringup real.launch.py
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# or explicitly:
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ros2 launch arm_bringup real.launch.py robot_sn:=Rizon4-063989 load_gripper:=false
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Official fake hardware:
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ros2 launch flexiv_bringup rizon.launch.py robot_sn:=Rizon4-063989 use_fake_hardware:=true load_gripper:=false
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EOF
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