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。
84 lines
3.2 KiB
Bash
Executable File
84 lines
3.2 KiB
Bash
Executable File
#!/usr/bin/env bash
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# Real-time visual servo (reads ALL tunables from ~/ros2/config/site.yaml).
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#
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# bash ~/ros2/scripts/run_visual_servo_rt.sh
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# bash ~/ros2/scripts/run_visual_servo_rt.sh --control
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# bash ~/ros2/scripts/run_visual_servo_rt.sh --arm 91 --control
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#
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# --control starts tracking from the current pose (no lift, no return-to-home).
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# 89/91 手眼与相机各自独立：必须与 run_real.sh 同一 --arm。
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#
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# Switch YOLO weights: edit paths.yolo_weights in site.yaml
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set -eo pipefail
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ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
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CONTROL=false
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# shellcheck disable=SC1091
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source "${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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--control) CONTROL=true; shift ;;
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-h|--help) sed -n '2,12p' "$0"; exit 0 ;;
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*) echo "Unknown: $1" >&2; exit 1 ;;
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esac
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done
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# shellcheck disable=SC1091
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source "${ROOT}/scripts/env.sh"
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# shellcheck disable=SC1091
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source "${ROOT}/scripts/lib/load_site_config.sh"
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python3 "${ROOT}/scripts/lib/export_site_env.py" --print || true
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if [[ -n "${SITE_FASTDDS_PROFILE:-}" && -f "${SITE_FASTDDS_PROFILE}" ]]; then
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export FASTRTPS_DEFAULT_PROFILES_FILE="${SITE_FASTDDS_PROFILE}"
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export RMW_IMPLEMENTATION="${RMW_IMPLEMENTATION:-rmw_fastrtps_cpp}"
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echo "=== FastDDS: ${FASTRTPS_DEFAULT_PROFILES_FILE} ==="
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fi
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if [[ "${CONTROL}" == true ]]; then
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echo "=== waiting for rizon_arm_controller ACTIVE (T1: run_real.sh --arm ${SITE_ROBOT_ARM:-?}) ==="
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# NOTE: action-list can show zombie entries from a crashed ros2_control,
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# and `ros2 control` CLI is broken in this env (xmlrpc Fault). A raw
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# service call only answers when the controller manager is actually alive.
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ready=false
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for _i in $(seq 1 40); do
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if timeout 5 ros2 service call /controller_manager/list_controllers \
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controller_manager_msgs/srv/ListControllers 2>/dev/null \
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| grep -q "name='rizon_arm_controller', state='active'"; then
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ready=true
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break
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fi
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sleep 0.5
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done
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if [[ "${ready}" != true ]]; then
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echo "ERROR: 机械臂控制器未激活（可能 T1 已崩溃或机器人不在网）。" >&2
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echo " 先确认 ping 通机器人，再重启 T1 并等 operational：" >&2
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echo " bash ~/ros2/scripts/run_real.sh --arm ${SITE_ROBOT_ARM:-91}" >&2
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exit 1
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fi
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echo "=== stop old perception/servo ==="
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pkill -f 'visual_servo.launch' 2>/dev/null || true
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pkill -f 'lib/arm_application/servo_node' 2>/dev/null || true
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pkill -f 'lib/arm_application/perception_node' 2>/dev/null || true
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sleep 1
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echo "=== start perception + servo CONTROL ON (lock_z from robots[].servo.ee_z_m) ==="
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else
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echo "=== launch perception + servo (observe only, no arm motion) ==="
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fi
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EE="${SITE_EE_FRAME:-Rizon4-063989_flange}"
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HANDEYE="${SITE_HANDEYE_FILE:-${ROOT}/src/arm_application/config/handeye_result.yaml}"
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echo " arm=${SITE_ROBOT_SN} ${SITE_ROBOT_LABEL:-} handeye=${HANDEYE}"
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echo " weights=${SITE_YOLO_WEIGHTS} camera=${SITE_CAM_NAME:-} control=${CONTROL}"
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LAUNCH_ARGS=(
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enable_control:="${CONTROL}"
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handeye_file:="${HANDEYE}"
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ee_frame:="${EE}"
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camera_frame:="${SITE_CAMERA_FRAME:-d405_color_optical_frame}"
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)
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exec ros2 launch arm_application visual_servo.launch.py "${LAUNCH_ARGS[@]}"
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