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。
47 lines
1.4 KiB
Bash
Executable File
47 lines
1.4 KiB
Bash
Executable File
#!/usr/bin/env bash
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# Clone Flexiv Isaac Sim integration repos into thirdparty/
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set -euo pipefail
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ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
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TP="${ROOT}/thirdparty"
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mkdir -p "${TP}"
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cd "${TP}"
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clone_or_update() {
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local url="$1"
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local dir="$2"
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if [[ -d "${dir}/.git" ]]; then
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echo "Updating ${dir}..."
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git -C "${dir}" pull --ff-only || true
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else
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echo "Cloning ${dir}..."
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git clone --depth 1 "${url}" "${dir}"
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fi
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}
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clone_or_update https://github.com/flexivrobotics/flexiv_sim_plugin.git flexiv_sim_plugin
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clone_or_update https://github.com/flexivrobotics/isaac_sim_ws.git isaac_sim_ws
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clone_or_update https://github.com/flexivrobotics/flexiv_description.git flexiv_description
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# Optional: RDK sources next to sim (if not already under src/)
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if [[ ! -d "${ROOT}/src/flexiv_rdk" ]]; then
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clone_or_update https://github.com/flexivrobotics/flexiv_rdk.git flexiv_rdk
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fi
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cat <<EOF
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Isaac / description repos are under: ${TP}
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Next (Isaac path):
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1) Install NVIDIA Isaac Sim
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2) Follow flexiv_sim_plugin README (Elements Studio → External / Isaac)
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3) cd ${TP}/isaac_sim_ws && bash install_ws.sh <isaac_sim_root>
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4) Configure robot instance for Rizon4-063989 in app_config.yaml
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5) Primitive docs: https://primitive.flexiv.cn/primitives/zh-CN/3.10/rizon4/index.html
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6) RDK manual (CN): https://flexiv.cn/software/rdk/manual/index.html
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ROS 2 path (separate):
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${ROOT}/scripts/fetch_flexiv.sh
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EOF
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