arm_dev
19 lines
608 B
Bash
Executable File
19 lines
608 B
Bash
Executable File
#!/usr/bin/env bash
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set -euo pipefail
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ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
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# shellcheck disable=SC1091
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source "${ROOT}/scripts/lib/dev_tools.sh"
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dev_source_conda
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conda activate ros_flexiv
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if [[ ! -f "${ROOT}/install/setup.bash" ]]; then
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echo "ERROR: ${ROOT}/install/setup.bash 不存在。先在仓库根目录 colcon build。" >&2
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exit 1
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fi
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# shellcheck disable=SC1091
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source "${ROOT}/install/setup.bash"
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ros2 run arm_application demo_named_poses --ros-args \
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-p "poses:=['home','ready','inspect','pos_left','home']" \
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-p velocity_scale:=2.0 \
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-p dwell_sec:=0.2 \
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-p loops:=1
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