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。
43 lines
1.2 KiB
Bash
Executable File
43 lines
1.2 KiB
Bash
Executable File
#!/usr/bin/env bash
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# Switch / list Flexiv Studio tools via RDK (reads name from site.yaml).
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#
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# bash ~/ros2/scripts/rdk_switch_tool.sh # switch to robot.tool_name
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# bash ~/ros2/scripts/rdk_switch_tool.sh --list # print Studio tool pool
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# bash ~/ros2/scripts/rdk_switch_tool.sh --name Flange
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#
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# Stop run_real.sh first — RDK allows only one client.
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set -eo pipefail
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ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
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# shellcheck disable=SC1091
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source "${ROOT}/scripts/lib/load_site_config.sh"
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RDK_PYTHON="${RDK_PYTHON:-/home/cc/rdk_py310/bin/python}"
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SN="${ROBOT_SN:-${SITE_ROBOT_SN:-Rizon4-063989}}"
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NAME="${SITE_ROBOT_TOOL_NAME:-}"
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IFACE="${SITE_NET_IFACE:-}"
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LIST=false
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while [[ $# -gt 0 ]]; do
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case "$1" in
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--list|-l) LIST=true; shift ;;
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--name) NAME="$2"; shift 2 ;;
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--sn) SN="$2"; shift 2 ;;
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--iface) IFACE="$2"; shift 2 ;;
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-h|--help) sed -n '2,12p' "$0"; exit 0 ;;
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*) echo "Unknown: $1" >&2; exit 1 ;;
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esac
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done
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ARGS=(--sn "${SN}")
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if [[ -n "${IFACE}" ]]; then
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ARGS+=(--iface "${IFACE}")
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fi
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if [[ "${LIST}" == true ]]; then
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ARGS+=(--list)
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elif [[ -n "${NAME}" ]]; then
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ARGS+=(--name "${NAME}")
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fi
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exec "${RDK_PYTHON}" "${ROOT}/scripts/rdk_switch_tool.py" "${ARGS[@]}"
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