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
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+#!/usr/bin/env python3
+"""Launch hole_detect on the current-arm color topic."""
+
+from __future__ import annotations
+
+import os
+from pathlib import Path
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, LogInfo, OpaqueFunction
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def _ws_root() -> Path:
+    for key in ("ROS2_WS", "SITE_ROS2_ROOT"):
+        v = os.environ.get(key, "").strip()
+        if v:
+            return Path(v)
+    return Path.home() / "ros2"
+
+
+def _setup(context, *args, **kwargs):
+    root = _ws_root()
+    backend = LaunchConfiguration("backend").perform(context) or os.environ.get("SITE_HOLE_BACKEND") or "two_stage"
+    weights = LaunchConfiguration("weights").perform(context) or os.environ.get("SITE_HOLE_WEIGHTS") or ""
+    cfg = LaunchConfiguration("config_file").perform(context) or os.environ.get("SITE_HOLE_CONFIG") or ""
+    cam = os.environ.get("SITE_CAM_NAME") or "d405"
+    preview = LaunchConfiguration("preview").perform(context).lower() in ("1", "true", "yes")
+    if not cfg:
+        if backend in ("two_stage", "hough_roi"):
+            cfg = str(root / "src" / "arm_application" / "config" / "hole_detect.yaml")
+        else:
+            cfg = str(root / "src" / "arm_application" / "config" / "hole_insert.yaml")
+    if not weights:
+        if backend in ("two_stage", "hough_roi"):
+            weights = os.environ.get("SITE_HOLE_WORKPIECE_WEIGHTS") or os.environ.get("SITE_YOLO_WEIGHTS") or ""
+        else:
+            weights = os.environ.get("SITE_HOLE_WEIGHTS") or str(root / "models" / "hole_insert" / "best.pt")
+    return [
+        LogInfo(msg=f"[hole_detect] cam={cam} backend={backend} weights={weights} cfg={cfg}"),
+        Node(
+            package="arm_application",
+            executable="hole_detect",
+            name="hole_detect",
+            output="screen",
+            parameters=[
+                {
+                    "camera_source": cam,
+                    "weights": weights,
+                    "config_file": cfg,
+                    "backend": backend,
+                    "device": os.environ.get("SITE_YOLO_DEVICE") or "0",
+                    "preview": preview,
+                }
+            ],
+        ),
+    ]
+
+
+def generate_launch_description() -> LaunchDescription:
+    return LaunchDescription(
+        [
+            DeclareLaunchArgument("backend", default_value=""),
+            DeclareLaunchArgument("weights", default_value=""),
+            DeclareLaunchArgument("config_file", default_value=""),
+            DeclareLaunchArgument("preview", default_value="false"),
+            OpaqueFunction(function=_setup),
+        ]
+    )