arm_dev
7942014763
验收：test_listed_arms 与 test_camera_preview 共 20 项通过。D435 1280×720 发布约 29 帧/秒。 Co-authored-by: Cursor <cursoragent@cursor.com>
61 lines
2.4 KiB
Bash
Executable File
61 lines
2.4 KiB
Bash
Executable File
#!/usr/bin/env bash
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# 加载本工作区环境（conda + ROS + flexiv 库）。
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# 用法：source scripts/env.sh
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ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
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if [[ -f /opt/ros/humble/setup.bash ]]; then
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# shellcheck disable=SC1091
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source /opt/ros/humble/setup.bash
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elif [[ -f /opt/ros/jazzy/setup.bash ]]; then
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# shellcheck disable=SC1091
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source /opt/ros/jazzy/setup.bash
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fi
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# conda 可能在 ~/anaconda3 或 ~/miniconda3。不写死用户名。
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# shellcheck disable=SC1091
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source "${ROOT}/scripts/lib/dev_tools.sh"
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dev_source_conda || true
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if command -v conda >/dev/null 2>&1; then
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# 干净切换：先把堆叠的激活退到 base，再激活真机环境。
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# 同一 shell 里从仿真环境切过来时，不清干净会残留 PATH/PYTHONPATH。
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_env_helper="${ROOT}/scripts/lib/conda_switch.sh"
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_real_env="${REAL_ENV_NAME:-ros_flexiv}"
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if [[ -f "${_env_helper}" ]]; then
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# shellcheck disable=SC1090
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source "${_env_helper}"
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conda_switch_clean "${_real_env}" "${SIM_ENV_NAME:-ros_gz_sim}" || \
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conda activate "${_real_env}" 2>/dev/null || true
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else
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conda activate "${_real_env}" 2>/dev/null || true
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fi
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unset _env_helper _real_env
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fi
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if [[ -f "${ROOT}/install/setup.bash" ]]; then
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# shellcheck disable=SC1091
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source "${ROOT}/install/setup.bash"
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else
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echo "警告：${ROOT}/install 还没编译。工位窗口可以先开；真机栈要先在仓库根目录 colcon build（不要在中文路径下编）。" >&2
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fi
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export LD_LIBRARY_PATH="${HOME}/flexiv_install/lib:${LD_LIBRARY_PATH:-}"
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# pip 版 TensorRT（tensorrt-cu12）—— 加载 YOLO `.engine` 需要它
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_pyver="$(python3 -c 'import sys; print(f"{sys.version_info[0]}.{sys.version_info[1]}")' 2>/dev/null || echo 3.11)"
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_TRT_SITE="${CONDA_PREFIX:-${HOME}/anaconda3/envs/${REAL_ENV_NAME:-ros_flexiv}}/lib/python${_pyver}/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 _pyver
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export YOLO_AUTOINSTALL=false
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export ROS2_WS="${ROOT}"
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# 真机与仿真的 DDS 隔离（细节与踩坑见 lib/ros_domain.sh 的文件头）。
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# shellcheck source=lib/ros_domain.sh
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source "${ROOT}/scripts/lib/ros_domain.sh"
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ros_domain_force_real
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# 主站点配置 → `SITE_*`（YOLO 权重、相机、机器人 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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