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。
37 lines
1.3 KiB
Bash
Executable File
37 lines
1.3 KiB
Bash
Executable File
#!/usr/bin/env bash
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# Source this workspace environment (conda + ROS + flexiv libs).
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# Usage: source scripts/env.sh
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ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
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if [[ -f /opt/ros/humble/setup.bash ]]; then
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# shellcheck disable=SC1091
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source /opt/ros/humble/setup.bash
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elif [[ -f /opt/ros/jazzy/setup.bash ]]; then
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# shellcheck disable=SC1091
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source /opt/ros/jazzy/setup.bash
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fi
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if [[ -f "${HOME}/anaconda3/etc/profile.d/conda.sh" ]]; then
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# shellcheck disable=SC1091
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source "${HOME}/anaconda3/etc/profile.d/conda.sh"
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conda activate ros_flexiv 2>/dev/null || true
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fi
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# shellcheck disable=SC1091
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source "${ROOT}/install/setup.bash"
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export LD_LIBRARY_PATH="${HOME}/flexiv_install/lib:${LD_LIBRARY_PATH:-}"
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# Pip TensorRT (tensorrt-cu12) — needed to load YOLO .engine
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_TRT_SITE="${CONDA_PREFIX:-${HOME}/anaconda3/envs/ros_flexiv}/lib/python3.11/site-packages"
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for _d in "${_TRT_SITE}/tensorrt" "${_TRT_SITE}/tensorrt_libs" "${_TRT_SITE}/nvidia/tensorrt/lib"; do
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if [[ -d "${_d}" ]]; then
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export LD_LIBRARY_PATH="${_d}:${LD_LIBRARY_PATH}"
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fi
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done
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unset _d _TRT_SITE
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export YOLO_AUTOINSTALL=false
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export ROS2_WS="${ROOT}"
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# Master site config → SITE_* (YOLO weights, camera, robot SN, …)
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# shellcheck disable=SC1091
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source "${ROOT}/scripts/lib/load_site_config.sh" 2>/dev/null || true
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