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。
33 lines
1.0 KiB
Bash
Executable File
33 lines
1.0 KiB
Bash
Executable File
#!/usr/bin/env bash
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set -eo pipefail
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ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
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cd "$ROOT"
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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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set +u
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conda activate ros_flexiv 2>/dev/null || true
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set -u 2>/dev/null || true
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fi
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if [[ -z "${ROS_DISTRO:-}" ]]; then
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if [[ -f /opt/ros/jazzy/setup.bash ]]; then
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# shellcheck disable=SC1091
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source /opt/ros/jazzy/setup.bash
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elif [[ -f /opt/ros/humble/setup.bash ]]; then
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# shellcheck disable=SC1091
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source /opt/ros/humble/setup.bash
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elif [[ -f /opt/ros/iron/setup.bash ]]; then
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# shellcheck disable=SC1091
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source /opt/ros/iron/setup.bash
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else
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echo "未检测到系统 ROS 2；使用 conda ros_flexiv 环境"
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fi
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fi
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PACKAGES=(flexiv_description arm_msgs arm_description arm_control arm_moveit_config arm_bringup arm_application)
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colcon build --symlink-install --packages-select "${PACKAGES[@]}" "$@"
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echo "构建完成。请执行: source ${ROOT}/install/setup.bash"
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