arm_dev
aed5d326a0
症状一（最隐蔽）：同一 shell 里先 source 过真机环境（scripts/env.sh）再
source 仿真环境，install/ 与 ros_flexiv 的路径不会被 conda deactivate 撤掉，
长在 install_sim/ 前面：
- PYTHONPATH 里真机那份 arm_msgs 压住仿真那份 → 消息类型混用
- LD_LIBRARY_PATH 里没有 $CONDA_PREFIX/lib → sim_tactile_adapter 订阅
ros_gz_interfaces/Contacts 时抛
Type support not from this implementation ...
cannot open shared object file
而库其实就在 conda 里、ldd 全齐。整条触觉链静默死掉（话题不发）。
症状二：setuptools 写 console_scripts 用的是**构建那一刻**的 python。
若在真机环境里跑过 build_sim.sh，install_sim/ 里 7 个入口脚本的 shebang
会指向 ros_flexiv —— 而 ros2 run 是照 shebang 执行的，于是**仿真节点一直
跑在真机 conda 环境里**。两个环境都是 Humble+py3.11，所以"居然能跑"，
只有偶发 dlopen / 反序列化怪错。
修法：
- conda_switch.sh 新增 path_drop_patterns：按 glob 从冒号列表里删条目
- sim_env.sh 清掉真机残留 + 末尾补 $CONDA_PREFIX/lib（优先级最低）
- 新增 lib/fix_shebangs.sh，build.sh / build_sim.sh 收尾各扫一遍（幂等）
Co-authored-by: Cursor <cursoragent@cursor.com>
37 lines
1.2 KiB
Bash
Executable File
37 lines
1.2 KiB
Bash
Executable File
#!/usr/bin/env bash
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set -eo pipefail
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ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
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cd "$ROOT"
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if [[ -f "${HOME}/anaconda3/etc/profile.d/conda.sh" ]]; then
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# shellcheck disable=SC1091
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source "${HOME}/anaconda3/etc/profile.d/conda.sh"
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set +u
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conda activate ros_flexiv 2>/dev/null || true
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set -u 2>/dev/null || true
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fi
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if [[ -z "${ROS_DISTRO:-}" ]]; then
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if [[ -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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elif [[ -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/iron/setup.bash ]]; then
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# shellcheck disable=SC1091
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source /opt/ros/iron/setup.bash
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else
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echo "未检测到系统 ROS 2；使用 conda ros_flexiv 环境"
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fi
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fi
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PACKAGES=(flexiv_description arm_msgs arm_description arm_control arm_moveit_config arm_bringup arm_application)
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colcon build --symlink-install --packages-select "${PACKAGES[@]}" "$@"
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# shellcheck source=lib/fix_shebangs.sh
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source "${ROOT}/scripts/lib/fix_shebangs.sh"
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fix_shebangs "${ROOT}/install" "${CONDA_PREFIX:-/usr}/bin/python3"
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echo "构建完成。请执行: source ${ROOT}/install/setup.bash"
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