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。
51 lines
1.9 KiB
Bash
Executable File
51 lines
1.9 KiB
Bash
Executable File
#!/usr/bin/env bash
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# Wire local Flexiv trees under ~/文档/Flexiv_Rizon4 into this workspace.
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# Avoids re-cloning RDK / sim plugin from GitHub.
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set -euo pipefail
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ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
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SRC="${ROOT}/src"
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TP="${ROOT}/thirdparty"
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LOCAL_FLEXIV="${LOCAL_FLEXIV:-$HOME/文档/Flexiv_Rizon4}"
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if [[ ! -d "${LOCAL_FLEXIV}/flexiv_rdk" ]]; then
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echo "ERROR: not found: ${LOCAL_FLEXIV}/flexiv_rdk"
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echo "Set LOCAL_FLEXIV to your Flexiv_Rizon4 directory."
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exit 1
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fi
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mkdir -p "${SRC}" "${TP}"
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VER_LINE=$(grep -E '^project\(flexiv_rdk' "${LOCAL_FLEXIV}/flexiv_rdk/CMakeLists.txt" | head -1 || true)
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echo "Linking RDK (${VER_LINE:-unknown version})..."
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ln -sfn "${LOCAL_FLEXIV}/flexiv_rdk" "${SRC}/flexiv_rdk"
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touch "${LOCAL_FLEXIV}/flexiv_rdk/COLCON_IGNORE"
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if [[ -d "${LOCAL_FLEXIV}/flexiv_sim_plugin" ]]; then
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if [[ -d "${TP}/flexiv_sim_plugin" && ! -L "${TP}/flexiv_sim_plugin" ]]; then
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mv "${TP}/flexiv_sim_plugin" "${TP}/flexiv_sim_plugin.cloned.bak.$(date +%s)"
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fi
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ln -sfn "${LOCAL_FLEXIV}/flexiv_sim_plugin" "${TP}/flexiv_sim_plugin"
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touch "${LOCAL_FLEXIV}/flexiv_sim_plugin/COLCON_IGNORE"
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echo "Linked thirdparty/flexiv_sim_plugin -> ${LOCAL_FLEXIV}/flexiv_sim_plugin"
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fi
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# humble-v1 ROS hardware needs RDK 1.9.x (kept separately if present)
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if [[ -d "${SRC}/flexiv_rdk.bak.1787646725" ]]; then
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ln -sfn "${SRC}/flexiv_rdk.bak.1787646725" "${SRC}/flexiv_rdk_v1"
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touch "${SRC}/flexiv_rdk.bak.1787646725/COLCON_IGNORE"
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echo "ROS stack RDK v1.9.1 available at src/flexiv_rdk_v1"
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fi
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cat <<EOF
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Done.
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src/flexiv_rdk -> ${LOCAL_FLEXIV}/flexiv_rdk (your tree, currently v2.1)
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thirdparty/flexiv_sim_plugin -> local sim plugin
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Note: flexiv_ros2 humble-v1 expects RDK **v1.9.1**.
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Build/install src/flexiv_rdk_v1 into ~/flexiv_install for flexiv_hardware.
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Use your v2.1 tree for RDK C++/Python examples and Isaac-side tooling.
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EOF
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