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>

build/flexiv_gripper/rclcpp_components/node_main_configured_flexiv_gripper_node.cpp.in

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+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <memory>
+#include <string>
+#include <vector>
+
+#include "class_loader/class_loader.hpp"
+#include "rclcpp/rclcpp.hpp"
+#include "rclcpp_components/node_factory.hpp"
+#include "rclcpp_components/node_factory_template.hpp"
+
+#define NODE_MAIN_LOGGER_NAME "flexiv_gripper_node"
+
+int main(int argc, char * argv[])
+{
+  auto args = rclcpp::init_and_remove_ros_arguments(argc, argv);
+  rclcpp::Logger logger = rclcpp::get_logger(NODE_MAIN_LOGGER_NAME);
+  rclcpp::executors::SingleThreadedExecutor exec;
+  rclcpp::NodeOptions options;
+  options.arguments(args);
+  std::vector<class_loader::ClassLoader * > loaders;
+  std::vector<rclcpp_components::NodeInstanceWrapper> node_wrappers;
+
+  std::string library_name = "$<TARGET_FILE_NAME:gripper_action_server>";
+  std::string class_name = "rclcpp_components::NodeFactoryTemplate<flexiv_gripper::GripperActionServer>";
+
+  RCLCPP_DEBUG(logger, "Load library %s", library_name.c_str());
+  auto loader = new class_loader::ClassLoader(library_name);
+  auto classes = loader->getAvailableClasses<rclcpp_components::NodeFactory>();
+  for (const auto & clazz : classes) {
+    if (clazz.compare(class_name) == 0) {
+      RCLCPP_DEBUG(logger, "Instantiate class %s", clazz.c_str());
+      std::shared_ptr<rclcpp_components::NodeFactory> node_factory = nullptr;
+      try {
+        node_factory = loader->createInstance<rclcpp_components::NodeFactory>(clazz);
+      } catch (const std::exception & ex) {
+        RCLCPP_ERROR(logger, "Failed to load library %s", ex.what());
+        return 1;
+      } catch (...) {
+        RCLCPP_ERROR(logger, "Failed to load library");
+        return 1;
+      }
+      auto wrapper = node_factory->create_node_instance(options);
+      auto node = wrapper.get_node_base_interface();
+      node_wrappers.push_back(wrapper);
+      exec.add_node(node);
+    }
+  }
+  loaders.push_back(loader);
+
+
+  exec.spin();
+
+  for (auto wrapper : node_wrappers) {
+    exec.remove_node(wrapper.get_node_base_interface());
+  }
+  node_wrappers.clear();
+
+  rclcpp::shutdown();
+
+  return 0;
+}

build/flexiv_gripper/rclcpp_components/node_main_flexiv_gripper_node.cpp

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+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <memory>
+#include <string>
+#include <vector>
+
+#include "class_loader/class_loader.hpp"
+#include "rclcpp/rclcpp.hpp"
+#include "rclcpp_components/node_factory.hpp"
+#include "rclcpp_components/node_factory_template.hpp"
+
+#define NODE_MAIN_LOGGER_NAME "flexiv_gripper_node"
+
+int main(int argc, char * argv[])
+{
+  auto args = rclcpp::init_and_remove_ros_arguments(argc, argv);
+  rclcpp::Logger logger = rclcpp::get_logger(NODE_MAIN_LOGGER_NAME);
+  rclcpp::executors::SingleThreadedExecutor exec;
+  rclcpp::NodeOptions options;
+  options.arguments(args);
+  std::vector<class_loader::ClassLoader * > loaders;
+  std::vector<rclcpp_components::NodeInstanceWrapper> node_wrappers;
+
+  std::string library_name = "libgripper_action_server.so";
+  std::string class_name = "rclcpp_components::NodeFactoryTemplate<flexiv_gripper::GripperActionServer>";
+
+  RCLCPP_DEBUG(logger, "Load library %s", library_name.c_str());
+  auto loader = new class_loader::ClassLoader(library_name);
+  auto classes = loader->getAvailableClasses<rclcpp_components::NodeFactory>();
+  for (const auto & clazz : classes) {
+    if (clazz.compare(class_name) == 0) {
+      RCLCPP_DEBUG(logger, "Instantiate class %s", clazz.c_str());
+      std::shared_ptr<rclcpp_components::NodeFactory> node_factory = nullptr;
+      try {
+        node_factory = loader->createInstance<rclcpp_components::NodeFactory>(clazz);
+      } catch (const std::exception & ex) {
+        RCLCPP_ERROR(logger, "Failed to load library %s", ex.what());
+        return 1;
+      } catch (...) {
+        RCLCPP_ERROR(logger, "Failed to load library");
+        return 1;
+      }
+      auto wrapper = node_factory->create_node_instance(options);
+      auto node = wrapper.get_node_base_interface();
+      node_wrappers.push_back(wrapper);
+      exec.add_node(node);
+    }
+  }
+  loaders.push_back(loader);
+
+
+  exec.spin();
+
+  for (auto wrapper : node_wrappers) {
+    exec.remove_node(wrapper.get_node_base_interface());
+  }
+  node_wrappers.clear();
+
+  rclcpp::shutdown();
+
+  return 0;
+}