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。
70 lines
1.7 KiB
Bash
Executable File
70 lines
1.7 KiB
Bash
Executable File
#!/usr/bin/env bash
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# Convert Flexiv Elements .traj → arm_application YAML (standard entry for all trajectories).
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# Usage:
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# ./scripts/convert_traj.sh ~/文档/my_task.traj
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# ./scripts/convert_traj.sh ~/文档/my_task.traj -o /path/to/out.yaml
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# ./scripts/convert_traj.sh ~/文档/my_task.traj --min-seg 2.5 --no-copy
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set -eo pipefail
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ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
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PY="${ROOT}/scripts/convert_flexiv_traj.py"
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if [[ $# -lt 1 ]]; then
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echo "Usage: $0 INPUT.traj [-o OUT.yaml] [--min-seg SECONDS] [--no-copy]"
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echo "Example: $0 ~/文档/my_task.traj"
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exit 1
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fi
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INPUT="$(realpath "$1")"
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shift
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BASENAME="$(basename "${INPUT}" .traj)"
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OUT_DEFAULT="${ROOT}/src/arm_application/config/${BASENAME}_trajectory.yaml"
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TRAJ_COPY="${ROOT}/src/arm_application/trajectories/${BASENAME}.traj"
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OUT="${OUT_DEFAULT}"
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MIN_SEG="3.0"
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DO_COPY=1
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EXTRA=()
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while [[ $# -gt 0 ]]; do
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case "$1" in
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-o|--output)
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OUT="$(realpath -m "$2")"
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shift 2
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;;
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--min-seg)
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MIN_SEG="$2"
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shift 2
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;;
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--no-copy)
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DO_COPY=0
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shift
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;;
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*)
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EXTRA+=("$1")
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shift
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;;
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esac
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done
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if [[ ! -f "${INPUT}" ]]; then
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echo "ERROR: input not found: ${INPUT}" >&2
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exit 1
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fi
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python3 "${PY}" "${INPUT}" -o "${OUT}" --min-seg "${MIN_SEG}" "${EXTRA[@]}"
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if [[ "${DO_COPY}" -eq 1 ]]; then
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mkdir -p "$(dirname "${TRAJ_COPY}")"
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cp -f "${INPUT}" "${TRAJ_COPY}"
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echo "Copied source traj → ${TRAJ_COPY}"
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fi
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echo ""
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echo "Next (stack must be running):"
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echo " conda activate ros_flexiv"
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echo " source ${ROOT}/install/setup.bash"
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echo " export LD_LIBRARY_PATH=~/flexiv_install/lib:\$LD_LIBRARY_PATH"
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echo " ros2 run arm_application run_joint_trajectory --ros-args \\"
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echo " --params-file ${OUT}"
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