arm_dev
7942014763
验收：test_listed_arms 与 test_camera_preview 共 20 项通过。D435 1280×720 发布约 29 帧/秒。 Co-authored-by: Cursor <cursoragent@cursor.com>
132 lines
5.6 KiB
Bash
Executable File
132 lines
5.6 KiB
Bash
Executable File
#!/usr/bin/env bash
|
||
# 真机 Rizon4 启动入口 —— 设置 RDK 运行时库，然后以 backend:=real 启动整栈
|
||
# 注意：这里不加 `set -u` —— conda/RoboStack 的钩子会引用未绑定的变量（CONDA_BUILD、COLCON_TRACE）
|
||
#
|
||
# bash ~/ros2/scripts/run_real.sh
|
||
# bash ~/ros2/scripts/run_real.sh --arm 91
|
||
# bash ~/ros2/scripts/run_real.sh --sn Rizon4-063991 # 本次启动换臂（不改 yaml）
|
||
set -eo pipefail
|
||
|
||
ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
|
||
FLEXIV_PREFIX="${HOME}/flexiv_install"
|
||
LIST_ONLY=false
|
||
NO_STOP=false
|
||
|
||
while [[ $# -gt 0 ]]; do
|
||
case "$1" in
|
||
--sn|--arm) export ROBOT_SN="${2:?}"; export ROBOT_ARM="${2}"; shift 2 ;;
|
||
--no-stop) NO_STOP=true; shift ;;
|
||
--list|-l) LIST_ONLY=true; shift ;;
|
||
-h|--help)
|
||
sed -n '2,8p' "$0"
|
||
echo " 机械臂模型在工位程序里看，这里默认不开 RViz。"
|
||
echo " 其余参数传给 ros2 launch。要临时打开 RViz：use_rviz:=true"
|
||
exit 0
|
||
;;
|
||
*) break ;;
|
||
esac
|
||
done
|
||
|
||
# shellcheck disable=SC1091
|
||
source "${ROOT}/scripts/lib/dev_tools.sh"
|
||
dev_source_conda
|
||
conda activate ros_flexiv
|
||
if [[ ! -f "${ROOT}/install/setup.bash" ]]; then
|
||
echo "ERROR: ${ROOT}/install/setup.bash 不存在。先在仓库根目录 colcon build，不要在中文路径下编。" >&2
|
||
exit 1
|
||
fi
|
||
# shellcheck disable=SC1091
|
||
source "${ROOT}/install/setup.bash"
|
||
# shellcheck disable=SC1091
|
||
source "${ROOT}/scripts/lib/load_site_config.sh"
|
||
# 真机与仿真的 DDS 域隔离：这个入口**不经过** env.sh，所以这里也得纠正一次。
|
||
# shellcheck source=lib/ros_domain.sh
|
||
source "${ROOT}/scripts/lib/ros_domain.sh"
|
||
ros_domain_force_real
|
||
|
||
# `flexiv_hardware` 必须从 flexiv_install 加载 spdlog/RBDyn（不能用 conda 的 fmt v11）
|
||
export LD_LIBRARY_PATH="${FLEXIV_PREFIX}/lib:${LD_LIBRARY_PATH:-}"
|
||
|
||
# `SITE_ROBOT_SN` 是解析后的 Flexiv 序列号（89/91 别名已经映射好了）。
|
||
ROBOT_SN="${SITE_ROBOT_SN:?run_real.sh 需要已配置的机械臂 SN —— 见 scripts/lib/load_site_config.sh 的报错}"
|
||
ROBOT_IP="${ROBOT_IP:-${SITE_ROBOT_IP:-192.168.100.1}}"
|
||
NET_IFACE="${SITE_NET_IFACE:-}"
|
||
RDK_PYTHON="$(dev_rdk_python)"
|
||
|
||
if [[ "${LIST_ONLY}" == true ]]; then
|
||
python3 "${ROOT}/scripts/lib/export_site_env.py" --print
|
||
exit 0
|
||
fi
|
||
|
||
echo "=== site: ${SITE_CONFIG:-n/a} SN=${ROBOT_SN} ${SITE_ROBOT_LABEL:-} arm=${SITE_ROBOT_ARM:-} ==="
|
||
echo "=== catalog: ${SITE_ROBOT_CATALOG:-} ==="
|
||
echo "=== handeye: ${SITE_HANDEYE_FILE:-} ==="
|
||
echo "=== camera serial: ${SITE_CAM_SERIAL:-} gripper: ${SITE_GRIP_MODEL:-} ${SITE_GRIP_PORT:-} ==="
|
||
echo "=== network iface=${NET_IFACE:-auto} robot=${ROBOT_IP} pc=${SITE_PC_IP:-} ==="
|
||
if [[ "${NO_STOP}" == true ]]; then
|
||
echo "=== --no-stop：不扫 install/（感知和伺服还在，扫了会把自己杀掉）==="
|
||
else
|
||
echo "=== stop leftover real stack (RDK exclusive) ==="
|
||
# 以前这里是两行 pkill（ros2_control_node + stack.launch），漏掉了
|
||
# arm_control 那一族**独立存活**的孤儿（adapter / named_pose_server /
|
||
# arm_status_node / joint_state_publisher）—— 它们会冒名顶替新一轮的栈，
|
||
# 见 lib/real_procs.sh 的文件头。扫描规则与 stop_real.sh 共用一份。
|
||
# shellcheck source=lib/real_procs.sh
|
||
source "${ROOT}/scripts/lib/real_procs.sh"
|
||
mapfile -t _stale < <(real_proc_targets)
|
||
if [ "${#_stale[@]}" != "0" ]; then
|
||
echo "清掉上一轮残留（${#_stale[@]} 个）："
|
||
for _pid in "${_stale[@]}"; do
|
||
printf ' %-7s %s\n' "$_pid" "$(ps -o args= -p "$_pid" 2>/dev/null | cut -c1-120)"
|
||
kill -TERM "$_pid" 2>/dev/null || true
|
||
done
|
||
sleep 1
|
||
for _pid in "${_stale[@]}"; do
|
||
kill -0 "$_pid" 2>/dev/null && kill -KILL "$_pid" 2>/dev/null || true
|
||
done
|
||
unset _pid
|
||
fi
|
||
unset _stale
|
||
fi
|
||
sleep 1
|
||
# 清掉把 91 的 .100 误绑到 89 MAC 上的陈旧 ARP
|
||
if [[ -n "${NET_IFACE}" ]]; then
|
||
ip neigh del "${ROBOT_IP}" dev "${NET_IFACE}" 2>/dev/null || true
|
||
fi
|
||
if ping -c 2 -W 1 "${ROBOT_IP}" >/dev/null 2>&1; then
|
||
echo "robot ${ROBOT_IP} ping OK"
|
||
else
|
||
echo "WARN: cannot ping ${ROBOT_IP} — 这一台不在网里，RDK 大概率会失败。"
|
||
echo " 本机: $(ip -4 -o addr show dev "${NET_IFACE:-enp4s0}" 2>/dev/null | awk '{print $4}' | tr '\n' ' ')"
|
||
echo " ARP ${ROBOT_IP}: $(ip neigh show "${ROBOT_IP}" 2>/dev/null | head -1 || echo none)"
|
||
MAC91="$(ip neigh show "${ROBOT_IP}" 2>/dev/null | awk '{print $5}' | head -1)"
|
||
MAC89="$(ip neigh show 192.168.2.101 2>/dev/null | awk '{print $5}' | head -1)"
|
||
if [[ -n "${MAC91}" && -n "${MAC89}" && "${MAC91}" == "${MAC89}" ]]; then
|
||
echo " ARP MAC 与 89(192.168.2.101) 相同 → .100 是误绑，91 并没有回包。"
|
||
fi
|
||
echo " 91 请接控制柜 User Port 1（出厂静态 192.168.2.100）到同一交换机，示教器 AUTO+Remote Ethernet。"
|
||
echo " 89=192.168.2.101 91=192.168.2.100"
|
||
fi
|
||
|
||
echo "=== RDK preflight + tool (${ROBOT_SN}) ==="
|
||
TOOL_NAME="${SITE_ROBOT_TOOL_NAME:-}"
|
||
RDK_TOOL_ARGS=(--sn "${ROBOT_SN}")
|
||
if [[ -n "${NET_IFACE}" ]]; then
|
||
RDK_TOOL_ARGS+=(--iface "${NET_IFACE}")
|
||
fi
|
||
if [[ -n "${TOOL_NAME}" ]]; then
|
||
RDK_TOOL_ARGS+=(--name "${TOOL_NAME}")
|
||
echo "=== Studio tool → ${TOOL_NAME} ==="
|
||
fi
|
||
if ! "${RDK_PYTHON}" "${ROOT}/scripts/rdk_switch_tool.py" "${RDK_TOOL_ARGS[@]}"; then
|
||
echo ""
|
||
echo "ERROR: RDK cannot connect / switch tool on ${ROBOT_SN}."
|
||
echo " 先确认 ping ${ROBOT_IP} 通（91=控制柜 User Port 1 → 192.168.2.100）。"
|
||
echo " Stop any other RDK client (this run_real.sh is exclusive)."
|
||
echo " On teach pendant: Settings → Remote → enable Ethernet/RDK remote mode."
|
||
echo " Test: bash ${ROOT}/scripts/test_rdk_python.sh ${ROBOT_SN}"
|
||
exit 1
|
||
fi
|
||
|
||
exec ros2 launch arm_bringup stack.launch.py backend:=real robot_sn:="${ROBOT_SN}" use_rviz:=false "$@"
|