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
1.4 KiB
Bash
Executable File
43 lines
1.4 KiB
Bash
Executable File
#!/usr/bin/env bash
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# Hole detection on the current-arm wrist D405. Detect only — no insert motion.
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#
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# bash ~/ros2/scripts/run_camera_d405.sh --arm 89 --preview
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# bash ~/ros2/scripts/run_hole_detect.sh --arm 89 --preview
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#
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# backend from site.yaml hole_detect.backend:
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# two_stage YOLO workpiece bbox + HoughCircles (camera_test hole_detect.py)
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# yolo YOLO boxes treated as holes
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# hough full-image HoughCircles
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set -eo pipefail
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ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
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PREVIEW=false
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# shellcheck disable=SC1091
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source "${ROOT}/scripts/lib/parse_arm_args.sh"
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parse_arm_args "$@"
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set -- "${PARSE_ARM_REST[@]}"
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while [[ $# -gt 0 ]]; do
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case "$1" in
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--preview) PREVIEW=true; shift ;;
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-h|--help) sed -n '2,16p' "$0"; exit 0 ;;
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*) echo "Unknown: $1" >&2; exit 1 ;;
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esac
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done
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# shellcheck disable=SC1091
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source "${ROOT}/scripts/lib/load_site_config.sh"
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# shellcheck disable=SC1091
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source "${ROOT}/scripts/env.sh"
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pkill -f 'arm_application/hole_detect_node.py' 2>/dev/null || true
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pkill -f 'lib/arm_application/hole_detect' 2>/dev/null || true
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sleep 0.2
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BACKEND="${SITE_HOLE_BACKEND:-two_stage}"
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echo "=== hole_detect arm=${SITE_ROBOT_ARM:-?} cam=${SITE_CAM_NAME} backend=${BACKEND} preview=${PREVIEW} ==="
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exec ros2 launch arm_application hole_detect.launch.py \
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backend:="${BACKEND}" \
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preview:="${PREVIEW}"
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