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
+96
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#!/usr/bin/env bash
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# Real Rizon4 bringup — sets RDK runtime libs + launches stack backend:=real
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# Note: no `set -u` — conda/RoboStack hooks reference unset vars (CONDA_BUILD, COLCON_TRACE)
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#
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# bash ~/ros2/scripts/run_real.sh
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# bash ~/ros2/scripts/run_real.sh --arm 91
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# bash ~/ros2/scripts/run_real.sh --sn Rizon4-063991 # 本次启动换臂（不改 yaml）
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set -eo pipefail
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ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
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FLEXIV_PREFIX="${HOME}/flexiv_install"
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LIST_ONLY=false
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while [[ $# -gt 0 ]]; do
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case "$1" in
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--sn|--arm) export ROBOT_SN="${2:?}"; export ROBOT_ARM="${2}"; shift 2 ;;
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--list|-l) LIST_ONLY=true; shift ;;
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-h|--help)
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sed -n '2,8p' "$0"
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echo " Extra args are passed to ros2 launch (e.g. use_rviz:=false)."
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exit 0
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;;
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*) break ;;
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esac
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done
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source /home/cc/anaconda3/etc/profile.d/conda.sh
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conda activate ros_flexiv
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# shellcheck disable=SC1091
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source "${ROOT}/install/setup.bash"
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# shellcheck disable=SC1091
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source "${ROOT}/scripts/lib/load_site_config.sh"
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# flexiv_hardware must load spdlog/RBDyn from flexiv_install (not conda fmt v11)
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export LD_LIBRARY_PATH="${FLEXIV_PREFIX}/lib:${LD_LIBRARY_PATH:-}"
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# SITE_ROBOT_SN is the resolved Flexiv serial (89/91 aliases already mapped).
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ROBOT_SN="${SITE_ROBOT_SN:-${ROBOT_SN:-Rizon4-063989}}"
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ROBOT_IP="${ROBOT_IP:-${SITE_ROBOT_IP:-192.168.100.1}}"
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NET_IFACE="${SITE_NET_IFACE:-}"
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RDK_PYTHON="${RDK_PYTHON:-/home/cc/rdk_py310/bin/python}"
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if [[ "${LIST_ONLY}" == true ]]; then
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python3 "${ROOT}/scripts/lib/export_site_env.py" --print
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exit 0
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fi
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echo "=== site: ${SITE_CONFIG:-n/a} SN=${ROBOT_SN} ${SITE_ROBOT_LABEL:-} arm=${SITE_ROBOT_ARM:-} ==="
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echo "=== catalog: ${SITE_ROBOT_CATALOG:-} ==="
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echo "=== handeye: ${SITE_HANDEYE_FILE:-} ==="
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echo "=== camera serial: ${SITE_CAM_SERIAL:-} gripper: ${SITE_GRIP_MODEL:-} ${SITE_GRIP_PORT:-} ==="
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echo "=== network iface=${NET_IFACE:-auto} robot=${ROBOT_IP} pc=${SITE_PC_IP:-} ==="
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echo "=== stop leftover ros2_control (RDK exclusive) ==="
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pkill -f '/controller_manager/ros2_control_node' 2>/dev/null || true
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pkill -f 'arm_bringup.*stack.launch' 2>/dev/null || true
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sleep 1
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# 清掉把 91 的 .100 误绑到 89 MAC 上的陈旧 ARP
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if [[ -n "${NET_IFACE}" ]]; then
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ip neigh del "${ROBOT_IP}" dev "${NET_IFACE}" 2>/dev/null || true
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fi
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if ping -c 2 -W 1 "${ROBOT_IP}" >/dev/null 2>&1; then
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echo "robot ${ROBOT_IP} ping OK"
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else
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echo "WARN: cannot ping ${ROBOT_IP} — 这一台不在网里，RDK 大概率会失败。"
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echo " 本机: $(ip -4 -o addr show dev "${NET_IFACE:-enp4s0}" 2>/dev/null | awk '{print $4}' | tr '\n' ' ')"
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echo " ARP ${ROBOT_IP}: $(ip neigh show "${ROBOT_IP}" 2>/dev/null | head -1 || echo none)"
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MAC91="$(ip neigh show "${ROBOT_IP}" 2>/dev/null | awk '{print $5}' | head -1)"
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MAC89="$(ip neigh show 192.168.2.101 2>/dev/null | awk '{print $5}' | head -1)"
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if [[ -n "${MAC91}" && -n "${MAC89}" && "${MAC91}" == "${MAC89}" ]]; then
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echo " ARP MAC 与 89(192.168.2.101) 相同 → .100 是误绑，91 并没有回包。"
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fi
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echo " 91 请接控制柜 User Port 1（出厂静态 192.168.2.100）到同一交换机，示教器 AUTO+Remote Ethernet。"
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echo " 89=192.168.2.101 91=192.168.2.100"
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fi
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echo "=== RDK preflight + tool (${ROBOT_SN}) ==="
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TOOL_NAME="${SITE_ROBOT_TOOL_NAME:-}"
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RDK_TOOL_ARGS=(--sn "${ROBOT_SN}")
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if [[ -n "${NET_IFACE}" ]]; then
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RDK_TOOL_ARGS+=(--iface "${NET_IFACE}")
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fi
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if [[ -n "${TOOL_NAME}" ]]; then
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RDK_TOOL_ARGS+=(--name "${TOOL_NAME}")
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echo "=== Studio tool → ${TOOL_NAME} ==="
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fi
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if ! "${RDK_PYTHON}" "${ROOT}/scripts/rdk_switch_tool.py" "${RDK_TOOL_ARGS[@]}"; then
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echo ""
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echo "ERROR: RDK cannot connect / switch tool on ${ROBOT_SN}."
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echo " 先确认 ping ${ROBOT_IP} 通（91=控制柜 User Port 1 → 192.168.2.100）。"
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echo " Stop any other RDK client (this run_real.sh is exclusive)."
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echo " On teach pendant: Settings → Remote → enable Ethernet/RDK remote mode."
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echo " Test: bash ${ROOT}/scripts/test_rdk_python.sh ${ROBOT_SN}"
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exit 1
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fi
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exec ros2 launch arm_bringup stack.launch.py backend:=real robot_sn:="${ROBOT_SN}" "$@"
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