arm_dev
7af9e3d4b6
搜孔开局会抬到悬高再落回 hole_hover_z_m，螺纹还没咬合臂就离开孔口。没有接触传感器，到位只认 final_gap 算出的法兰高度，贴面后停在这个 Z。09:25 厂家 MoveL 切回 NRT_JOINT_POSITION 的第一拍把整段关节差算成 1.686 rad/s，前瞻再推 0.07 rad，光心从 5 mm 冲到 276 mm 后急停。切回后钉住结束瞬间的关节角并清零速度，JTC 还指着出发前的关节时不放行。 Co-authored-by: Cursor <cursoragent@cursor.com>
125 lines
5.3 KiB
Bash
Executable File
125 lines
5.3 KiB
Bash
Executable File
#!/usr/bin/env bash
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# 真机 Rizon4 启动入口 —— 设置 RDK 运行时库，然后以 backend:=real 启动整栈
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# 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）
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#
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# bash ~/ros2/scripts/run_real.sh
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# bash ~/ros2/scripts/run_real.sh --arm 91
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# bash ~/ros2/scripts/run_real.sh --sn Rizon4-063991 # 本次启动换臂（不改 yaml）
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set -eo pipefail
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ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
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FLEXIV_PREFIX="${HOME}/flexiv_install"
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LIST_ONLY=false
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NO_STOP=false
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while [[ $# -gt 0 ]]; do
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case "$1" in
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--sn|--arm) export ROBOT_SN="${2:?}"; export ROBOT_ARM="${2}"; shift 2 ;;
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--no-stop) NO_STOP=true; shift ;;
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--list|-l) LIST_ONLY=true; shift ;;
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-h|--help)
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sed -n '2,8p' "$0"
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echo " Extra args are passed to ros2 launch (e.g. use_rviz:=false)."
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exit 0
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;;
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*) break ;;
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esac
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done
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source /home/cc/anaconda3/etc/profile.d/conda.sh
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conda activate ros_flexiv
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# shellcheck disable=SC1091
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source "${ROOT}/install/setup.bash"
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# shellcheck disable=SC1091
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source "${ROOT}/scripts/lib/load_site_config.sh"
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# 真机与仿真的 DDS 域隔离：这个入口**不经过** env.sh，所以这里也得纠正一次。
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# shellcheck source=lib/ros_domain.sh
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source "${ROOT}/scripts/lib/ros_domain.sh"
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ros_domain_force_real
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# `flexiv_hardware` 必须从 flexiv_install 加载 spdlog/RBDyn（不能用 conda 的 fmt v11）
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export LD_LIBRARY_PATH="${FLEXIV_PREFIX}/lib:${LD_LIBRARY_PATH:-}"
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# `SITE_ROBOT_SN` 是解析后的 Flexiv 序列号（89/91 别名已经映射好了）。
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ROBOT_SN="${SITE_ROBOT_SN:?run_real.sh 需要已配置的机械臂 SN —— 见 scripts/lib/load_site_config.sh 的报错}"
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ROBOT_IP="${ROBOT_IP:-${SITE_ROBOT_IP:-192.168.100.1}}"
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NET_IFACE="${SITE_NET_IFACE:-}"
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RDK_PYTHON="${RDK_PYTHON:-/home/cc/rdk_py310/bin/python}"
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if [[ "${LIST_ONLY}" == true ]]; then
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python3 "${ROOT}/scripts/lib/export_site_env.py" --print
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exit 0
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fi
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echo "=== site: ${SITE_CONFIG:-n/a} SN=${ROBOT_SN} ${SITE_ROBOT_LABEL:-} arm=${SITE_ROBOT_ARM:-} ==="
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echo "=== catalog: ${SITE_ROBOT_CATALOG:-} ==="
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echo "=== handeye: ${SITE_HANDEYE_FILE:-} ==="
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echo "=== camera serial: ${SITE_CAM_SERIAL:-} gripper: ${SITE_GRIP_MODEL:-} ${SITE_GRIP_PORT:-} ==="
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echo "=== network iface=${NET_IFACE:-auto} robot=${ROBOT_IP} pc=${SITE_PC_IP:-} ==="
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if [[ "${NO_STOP}" == true ]]; then
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echo "=== --no-stop：不扫 install/（感知和伺服还在，扫了会把自己杀掉）==="
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else
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echo "=== stop leftover real stack (RDK exclusive) ==="
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# 以前这里是两行 pkill（ros2_control_node + stack.launch），漏掉了
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# arm_control 那一族**独立存活**的孤儿（adapter / named_pose_server /
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# arm_status_node / joint_state_publisher）—— 它们会冒名顶替新一轮的栈，
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# 见 lib/real_procs.sh 的文件头。扫描规则与 stop_real.sh 共用一份。
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# shellcheck source=lib/real_procs.sh
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source "${ROOT}/scripts/lib/real_procs.sh"
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mapfile -t _stale < <(real_proc_targets)
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if [ "${#_stale[@]}" != "0" ]; then
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echo "清掉上一轮残留（${#_stale[@]} 个）："
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for _pid in "${_stale[@]}"; do
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printf ' %-7s %s\n' "$_pid" "$(ps -o args= -p "$_pid" 2>/dev/null | cut -c1-120)"
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kill -TERM "$_pid" 2>/dev/null || true
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done
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sleep 1
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for _pid in "${_stale[@]}"; do
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kill -0 "$_pid" 2>/dev/null && kill -KILL "$_pid" 2>/dev/null || true
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done
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unset _pid
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fi
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unset _stale
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fi
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sleep 1
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# 清掉把 91 的 .100 误绑到 89 MAC 上的陈旧 ARP
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if [[ -n "${NET_IFACE}" ]]; then
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ip neigh del "${ROBOT_IP}" dev "${NET_IFACE}" 2>/dev/null || true
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fi
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if ping -c 2 -W 1 "${ROBOT_IP}" >/dev/null 2>&1; then
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echo "robot ${ROBOT_IP} ping OK"
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else
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echo "WARN: cannot ping ${ROBOT_IP} — 这一台不在网里，RDK 大概率会失败。"
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echo " 本机: $(ip -4 -o addr show dev "${NET_IFACE:-enp4s0}" 2>/dev/null | awk '{print $4}' | tr '\n' ' ')"
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echo " ARP ${ROBOT_IP}: $(ip neigh show "${ROBOT_IP}" 2>/dev/null | head -1 || echo none)"
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MAC91="$(ip neigh show "${ROBOT_IP}" 2>/dev/null | awk '{print $5}' | head -1)"
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MAC89="$(ip neigh show 192.168.2.101 2>/dev/null | awk '{print $5}' | head -1)"
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if [[ -n "${MAC91}" && -n "${MAC89}" && "${MAC91}" == "${MAC89}" ]]; then
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echo " ARP MAC 与 89(192.168.2.101) 相同 → .100 是误绑，91 并没有回包。"
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fi
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echo " 91 请接控制柜 User Port 1（出厂静态 192.168.2.100）到同一交换机，示教器 AUTO+Remote Ethernet。"
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echo " 89=192.168.2.101 91=192.168.2.100"
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fi
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echo "=== RDK preflight + tool (${ROBOT_SN}) ==="
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TOOL_NAME="${SITE_ROBOT_TOOL_NAME:-}"
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RDK_TOOL_ARGS=(--sn "${ROBOT_SN}")
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if [[ -n "${NET_IFACE}" ]]; then
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RDK_TOOL_ARGS+=(--iface "${NET_IFACE}")
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fi
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if [[ -n "${TOOL_NAME}" ]]; then
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RDK_TOOL_ARGS+=(--name "${TOOL_NAME}")
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echo "=== Studio tool → ${TOOL_NAME} ==="
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fi
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if ! "${RDK_PYTHON}" "${ROOT}/scripts/rdk_switch_tool.py" "${RDK_TOOL_ARGS[@]}"; then
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echo ""
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echo "ERROR: RDK cannot connect / switch tool on ${ROBOT_SN}."
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echo " 先确认 ping ${ROBOT_IP} 通（91=控制柜 User Port 1 → 192.168.2.100）。"
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echo " Stop any other RDK client (this run_real.sh is exclusive)."
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echo " On teach pendant: Settings → Remote → enable Ethernet/RDK remote mode."
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echo " Test: bash ${ROOT}/scripts/test_rdk_python.sh ${ROBOT_SN}"
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exit 1
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fi
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exec ros2 launch arm_bringup stack.launch.py backend:=real robot_sn:="${ROBOT_SN}" "$@"
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