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。
35 lines
1.2 KiB
Bash
Executable File
35 lines
1.2 KiB
Bash
Executable File
#!/usr/bin/env bash
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# Build Flexiv RDK v1.x into ~/flexiv_install (required for real robot / flexiv_hardware).
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set -euo pipefail
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ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
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RDK="${ROOT}/src/flexiv_rdk"
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PREFIX="${FLEXIV_INSTALL_PREFIX:-$HOME/flexiv_install}"
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if [[ ! -d "$RDK" ]]; then
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echo "Missing $RDK — run scripts/fetch_flexiv.sh first"
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exit 1
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fi
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echo "Building RDK thirdparty deps into $PREFIX ..."
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# Prefer system /opt/ros if present; else conda env already has compilers
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if [[ -f /opt/ros/humble/setup.bash ]]; then
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# shellcheck disable=SC1091
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source /opt/ros/humble/setup.bash
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fi
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cd "$RDK"
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if [[ -f thirdparty/build_and_install_dependencies_not_in_ros2.sh ]]; then
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bash thirdparty/build_and_install_dependencies_not_in_ros2.sh "$PREFIX"
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elif [[ -f thirdparty/build_and_install_dependencies.sh ]]; then
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bash thirdparty/build_and_install_dependencies.sh "$PREFIX"
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else
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echo "No thirdparty build script found; see RDK README"
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ls thirdparty || true
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fi
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rm -rf build && mkdir build && cd build
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cmake .. -DCMAKE_INSTALL_PREFIX="$PREFIX" -DCMAKE_BUILD_TYPE=Release
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cmake --build . --target install -j"$(nproc)"
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echo "RDK installed to $PREFIX"
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echo "Then: cd $ROOT && colcon build --symlink-install --cmake-args -DCMAKE_PREFIX_PATH=$PREFIX"
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