arm_dev
6edb8d39ab
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。
22 lines
778 B
Bash
Executable File
22 lines
778 B
Bash
Executable File
#!/usr/bin/env bash
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# List plugged RealSense cameras (serials used in site.yaml).
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set -eo pipefail
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python3 - <<'PY'
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import pyrealsense2 as rs
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known = {
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"352122274408": "left wrist D405 (arm 89, parallel gripper)",
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"260522274442": "right wrist D405 (arm 91, rotary gripper)",
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"262522073161": "overhead D435 (between arms, eye-to-hand)",
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}
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ds = list(rs.context().devices)
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print(f"n={len(ds)}")
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for d in ds:
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sn = d.get_info(rs.camera_info.serial_number)
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name = d.get_info(rs.camera_info.name)
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usb = d.get_info(rs.camera_info.usb_type_descriptor)
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fw = d.get_info(rs.camera_info.firmware_version)
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role = known.get(sn, "(unassigned — add to site.yaml cameras:)")
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print(f" {name:22} serial={sn} USB={usb} fw={fw}")
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print(f" -> {role}")
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PY
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