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。
105 lines
3.3 KiB
Bash
Executable File
105 lines
3.3 KiB
Bash
Executable File
#!/usr/bin/env bash
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# Offline-friendly Flexiv RDK v1.9.1 install for ROS (humble-v1 / flexiv_hardware).
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# CMakeLists already supports FLEXIV_RDK_OFFLINE_LIB / vendor/rdk_libs/.
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set -euo pipefail
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ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
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RDK_SRC="${RDK_SRC:-$ROOT/src/flexiv_rdk_v1}"
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PREFIX="${PREFIX:-$HOME/flexiv_install}"
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LIB_NAME="libflexiv_rdk.x86_64-linux-gnu.a"
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EXPECTED_HASH="$(tr -d '[:space:]' < "${RDK_SRC}/lib/${LIB_NAME}.sha256")"
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VENDOR_LIB="${ROOT}/vendor/rdk_libs/${LIB_NAME}"
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JOBS="${JOBS:-$(nproc)}"
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# Prefer conda ros_flexiv toolchain (cmake/g++ often only there)
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if ! command -v cmake >/dev/null 2>&1; then
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# shellcheck disable=SC1091
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source "${HOME}/anaconda3/etc/profile.d/conda.sh" 2>/dev/null \
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|| source "${HOME}/miniconda3/etc/profile.d/conda.sh" 2>/dev/null \
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|| true
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conda activate "${CONDA_ENV:-ros_flexiv}" 2>/dev/null || true
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fi
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if ! command -v cmake >/dev/null 2>&1; then
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echo "ERROR: cmake not found. Activate ros_flexiv (or install cmake) first."
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exit 1
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fi
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echo "Using cmake: $(command -v cmake) ($(cmake --version | head -1))"
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mkdir -p "${ROOT}/vendor/rdk_libs" "${PREFIX}"
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if [[ -f "${VENDOR_LIB}" ]] && [[ "$(sha256sum "${VENDOR_LIB}" | awk '{print $1}')" == "${EXPECTED_HASH}" ]]; then
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echo "OK: ${VENDOR_LIB}"
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else
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echo "Need ${LIB_NAME} (SHA256 ${EXPECTED_HASH})"
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base="https://github.com/flexivrobotics/flexiv_rdk/releases/download/v1.9.1/${LIB_NAME}"
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ok=0
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for url in \
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"${base}" \
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"https://ghproxy.net/${base}" \
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"https://gh.ddlc.top/${base}" \
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"https://hub.gitmirror.com/${base}" \
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"https://cf.ghproxy.cc/${base}"
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do
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echo "TRY ${url}"
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if curl -fL --connect-timeout 15 --max-time 120 -o "${VENDOR_LIB}.part" "${url}" \
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&& [[ "$(sha256sum "${VENDOR_LIB}.part" | awk '{print $1}')" == "${EXPECTED_HASH}" ]]; then
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mv "${VENDOR_LIB}.part" "${VENDOR_LIB}"
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ok=1
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break
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fi
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rm -f "${VENDOR_LIB}.part"
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done
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if [[ "${ok}" -ne 1 ]]; then
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cat <<EOF
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FAILED to download ${LIB_NAME}.
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Manual (any PC with GitHub access):
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wget -O ${LIB_NAME} '${base}'
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sha256sum ${LIB_NAME} # must be ${EXPECTED_HASH}
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scp ${LIB_NAME} $(hostname):${VENDOR_LIB}
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Then re-run: $0
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EOF
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exit 1
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fi
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fi
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export FLEXIV_RDK_OFFLINE_LIB="${VENDOR_LIB}"
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echo "Install deps into ${PREFIX} (may still need git mirrors)..."
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DEP_SCRIPT=""
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for s in \
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"${RDK_SRC}/thirdparty/build_and_install_dependencies_not_in_ros2.sh" \
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"${RDK_SRC}/thirdparty/build_and_install_dependencies.sh"
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do
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[[ -f "$s" ]] && DEP_SCRIPT="$s" && break
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done
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if [[ -n "${DEP_SCRIPT}" ]]; then
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bash "${DEP_SCRIPT}" "${PREFIX}" "${JOBS}" || {
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echo "WARN: deps script failed. If Eigen/spdlog/Fast-DDS/RBDyn already in ${PREFIX}, continue."
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}
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else
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echo "WARN: no dependency script found"
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fi
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rm -rf "${RDK_SRC}/build"
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mkdir -p "${RDK_SRC}/build" && cd "${RDK_SRC}/build"
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cmake .. -DCMAKE_BUILD_TYPE=Release \
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-DCMAKE_INSTALL_PREFIX="${PREFIX}" \
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-DCMAKE_PREFIX_PATH="${PREFIX}"
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cmake --build . --target install -j "${JOBS}"
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cat <<EOF
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RDK installed to ${PREFIX}
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Next:
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conda activate ros_flexiv
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cd ${ROOT}
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colcon build --symlink-install --cmake-args -DCMAKE_PREFIX_PATH=${PREFIX} \\
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--packages-up-to flexiv_bringup flexiv_hardware arm_bringup
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Python (already ready, no GitHub):
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/home/cc/rdk_py310/bin/python
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bash ${ROOT}/scripts/test_rdk_python.sh
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EOF
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