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。
26 lines
962 B
Bash
Executable File
26 lines
962 B
Bash
Executable File
#!/usr/bin/env bash
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# Both DH grippers (left PGEA + right RGI) as one ROS 2 node.
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# bash ~/ros2/scripts/run_dual_gripper.sh
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# Topics: /dual_gripper_driver/left|right/{command,status}
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# Services: /dual_gripper_driver/left|right/execute (arm_msgs/srv/GripperExecute)
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set -eo 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/parse_arm_args.sh"
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parse_arm_args "$@"
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set -- "${PARSE_ARM_REST[@]}"
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# shellcheck disable=SC1091
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source "${ROOT}/scripts/lib/load_site_config.sh"
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# shellcheck disable=SC1091
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source "${ROOT}/scripts/env.sh"
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pkill -f 'arm_application/dual_gripper_node.py' 2>/dev/null || true
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pkill -f 'lib/arm_application/dual_gripper' 2>/dev/null || true
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sleep 0.3
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echo "=== dual gripper PGEA ${SITE_GRIP_PORT:-/dev/ttyUSB0} + RGI (site.yaml robots[]) ==="
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exec ros2 launch arm_application dual_gripper.launch.py sides:=left,right allow_offline:=true
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