克隆后还缺仿真安装树和两边的编译目录。把 build、build_sim、install_sim 一并放进仓库；仿真入口不再写死本机 conda，build 里指向源码的链接改成相对路径。
Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
arm_dev
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# generated from rosidl_cmake/cmake/rosidl_cmake-extras.cmake.in
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set(arm_msgs_IDL_FILES "msg/ArmStatus.idl;msg/JointCommand.idl;msg/GripperCommand.idl;msg/GripperStatus.idl;msg/HoleDetection.idl;msg/HoleDetections.idl;msg/TactileStatus.idl;srv/SetNamedPose.idl;srv/GetArmState.idl;srv/GripperExecute.idl;srv/SwitchTool.idl;action/MoveToPose.idl;action/FollowJointTrajectory.idl;action/CompliantDescent.idl")
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set(arm_msgs_INTERFACE_FILES "msg/ArmStatus.msg;msg/JointCommand.msg;msg/GripperCommand.msg;msg/GripperStatus.msg;msg/HoleDetection.msg;msg/HoleDetections.msg;msg/TactileStatus.msg;srv/SetNamedPose.srv;srv/SetNamedPose_Request.msg;srv/SetNamedPose_Response.msg;srv/GetArmState.srv;srv/GetArmState_Request.msg;srv/GetArmState_Response.msg;srv/GripperExecute.srv;srv/GripperExecute_Request.msg;srv/GripperExecute_Response.msg;srv/SwitchTool.srv;srv/SwitchTool_Request.msg;srv/SwitchTool_Response.msg;action/MoveToPose.action;action/FollowJointTrajectory.action;action/CompliantDescent.action")
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# generated from
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# rosidl_cmake/cmake/template/rosidl_cmake_export_typesupport_libraries.cmake.in
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set(_exported_typesupport_libraries
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"__rosidl_typesupport_fastrtps_c:arm_msgs__rosidl_typesupport_fastrtps_c;__rosidl_typesupport_fastrtps_cpp:arm_msgs__rosidl_typesupport_fastrtps_cpp")
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# populate arm_msgs_LIBRARIES_<suffix>
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if(NOT _exported_typesupport_libraries STREQUAL "")
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# loop over typesupport libraries
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foreach(_tuple ${_exported_typesupport_libraries})
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string(REPLACE ":" ";" _tuple "${_tuple}")
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list(GET _tuple 0 _suffix)
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list(GET _tuple 1 _library)
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if(NOT IS_ABSOLUTE "${_library}")
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# search for library target relative to this CMake file
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set(_lib "NOTFOUND")
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find_library(
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_lib NAMES "${_library}"
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PATHS "${arm_msgs_DIR}/../../../lib"
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NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH
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)
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if(NOT _lib)
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# the library wasn't found
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message(FATAL_ERROR
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"Package 'arm_msgs' exports the typesupport library '${_library}' which couldn't be found")
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elseif(NOT IS_ABSOLUTE "${_lib}")
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# the found library must be an absolute path
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message(FATAL_ERROR
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"Package 'arm_msgs' found the typesupport library '${_library}' at '${_lib}' "
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"which is not an absolute path")
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elseif(NOT EXISTS "${_lib}")
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# the found library must exist
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message(FATAL_ERROR "Package 'arm_msgs' found the typesupport library '${_lib}' which doesn't exist")
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else()
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list(APPEND arm_msgs_LIBRARIES${_suffix} ${_cfg} "${_lib}")
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endif()
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else()
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if(NOT EXISTS "${_library}")
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# the found library must exist
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message(WARNING "Package 'arm_msgs' exports the typesupport library '${_library}' which doesn't exist")
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else()
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list(APPEND arm_msgs_LIBRARIES${_suffix} "${_library}")
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endif()
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endif()
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endforeach()
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endif()
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@@ -0,0 +1,23 @@
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# generated from
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# rosidl_cmake/cmake/template/rosidl_cmake_export_typesupport_targets.cmake.in
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set(_exported_typesupport_targets
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"__rosidl_generator_c:arm_msgs__rosidl_generator_c;__rosidl_typesupport_fastrtps_c:arm_msgs__rosidl_typesupport_fastrtps_c;__rosidl_typesupport_introspection_c:arm_msgs__rosidl_typesupport_introspection_c;__rosidl_typesupport_c:arm_msgs__rosidl_typesupport_c;__rosidl_generator_cpp:arm_msgs__rosidl_generator_cpp;__rosidl_typesupport_fastrtps_cpp:arm_msgs__rosidl_typesupport_fastrtps_cpp;__rosidl_typesupport_introspection_cpp:arm_msgs__rosidl_typesupport_introspection_cpp;__rosidl_typesupport_cpp:arm_msgs__rosidl_typesupport_cpp;__rosidl_generator_py:arm_msgs__rosidl_generator_py")
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# populate arm_msgs_TARGETS_<suffix>
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if(NOT _exported_typesupport_targets STREQUAL "")
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# loop over typesupport targets
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foreach(_tuple ${_exported_typesupport_targets})
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string(REPLACE ":" ";" _tuple "${_tuple}")
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list(GET _tuple 0 _suffix)
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list(GET _tuple 1 _target)
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set(_target "arm_msgs::${_target}")
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if(NOT TARGET "${_target}")
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# the exported target must exist
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message(WARNING "Package 'arm_msgs' exports the typesupport target '${_target}' which doesn't exist")
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else()
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list(APPEND arm_msgs_TARGETS${_suffix} "${_target}")
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endif()
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endforeach()
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endif()
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@@ -0,0 +1,6 @@
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bool success
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string mode
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float64[] joint_positions
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geometry_msgs/PoseStamped ee_pose
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string message
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@@ -0,0 +1 @@
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arm_msgs/GripperCommand command
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@@ -0,0 +1,4 @@
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bool success
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string message
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arm_msgs/GripperStatus status
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@@ -0,0 +1,4 @@
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# Move to a named pose defined in config (home, ready, inspect, pos_left, ...)
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string pose_name
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float64 velocity_scale # (0, 1], 1 = full speed
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float64 acceleration_scale
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@@ -0,0 +1,3 @@
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bool success
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string message
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@@ -0,0 +1,11 @@
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# 切换到已保存的工具坐标系（如 tool1）。
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#
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# 背景：非夕的工具坐标系（TCP + 质量 + 质心）在 Studio 里预先配好并命名，
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# RDK 只提供「按名字切换」一个操作。通止规装配要求工具系全程垂直向下锁定，
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# 所以在流程开始前必须确认已切到正确的工具。
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#
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# 实现：arm_driver_flexiv 调用 scripts/rdk_switch_tool.py（子进程，rdk_py310）。
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# 注意 RDK 是独占访问，切换时臂必须处于 IDLE 且没有其它进程连着 RDK。
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string tool_name # Studio 里已保存的工具名。空字符串 = 只查询当前状态，不切换
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string sn # 目标臂 SN（如 Rizon4-063989）。空 = 用 site.yaml 的 robot.sn
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@@ -0,0 +1,6 @@
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bool success # 是否已达到目标状态（已在该工具上也算成功）
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string message # 失败原因；成功时为当前工具名说明
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string current_tool # 操作后的当前工具名
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float64 tool_mass_kg # 该工具的质量（kg）；查询不到为 0
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float64[3] tool_com_m # 该工具的质心（法兰系，m）；查询不到为全 0
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