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
1.6 KiB
Bash
Executable File
51 lines
1.6 KiB
Bash
Executable File
#!/usr/bin/env bash
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# Overhead D435 between the two arms (eye-to-hand). Does not open either D405.
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#
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# bash ~/ros2/scripts/run_camera_d435.sh --preview
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#
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set -eo pipefail
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ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
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PREVIEW=1
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while [[ $# -gt 0 ]]; do
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case "$1" in
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--preview) PREVIEW=1; shift ;;
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--no-preview) PREVIEW=0; shift ;;
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-h|--help) sed -n '2,8p' "$0"; exit 0 ;;
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*) echo "Unknown: $1" >&2; exit 1 ;;
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esac
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done
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# shellcheck disable=SC1091
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source "${ROOT}/scripts/env.sh"
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# shellcheck disable=SC1091
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source "${ROOT}/scripts/lib/load_site_config.sh"
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SN="${SITE_D435_SERIAL:-}"
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if [[ -z "${SN}" ]]; then
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echo "ERROR: cameras.d435.serial empty in site.yaml" >&2
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exit 2
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fi
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echo "=== D435 overhead serial=${SN} ${SITE_D435_WIDTH:-1280}x${SITE_D435_HEIGHT:-720}@${SITE_D435_FPS:-30} ==="
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pkill -f 'camera_name:=d435' 2>/dev/null || true
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CAM_ARGS=(
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--ros-args
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-p camera_name:=d435
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-p camera_serial:="${SN}"
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-p width:="${SITE_D435_WIDTH:-1280}"
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-p height:="${SITE_D435_HEIGHT:-720}"
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-p fps:="${SITE_D435_FPS:-30}"
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-p enable_depth:=true
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-p enable_infra:=false
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-p preview_stereo:=false
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-p auto_exposure:=true
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-p ae_limit_us:=8000
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-p emitter_enabled:=true
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)
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if [[ "${PREVIEW}" == "1" ]]; then
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pkill -f 'lib/arm_application/realsense_view' 2>/dev/null || true
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ros2 run arm_application realsense_color_pub "${CAM_ARGS[@]}" -p show_preview:=false &
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CAM_PID=$!
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trap 'kill "${CAM_PID}" 2>/dev/null || true' EXIT INT TERM
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ros2 run arm_application realsense_view --ros-args -p camera_name:=d435
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else
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exec ros2 run arm_application realsense_color_pub "${CAM_ARGS[@]}"
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fi
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