arm_dev
7d22f777c8
现场 site.yaml、权重和编译产物仍不入库；模板只留占位符。 Co-authored-by: Cursor <cursoragent@cursor.com>
56 lines
1.9 KiB
Bash
Executable File
56 lines
1.9 KiB
Bash
Executable File
#!/usr/bin/env bash
|
||
# 两臂之间的顶置 D435（`eye-to-hand`，相机固定在外）。
|
||
# 可以和 run_camera_d405.sh 同时开：只杀 camera_name:=d435，不动腕部那台。
|
||
#
|
||
# bash ~/ros2/scripts/run_camera_d435.sh --preview
|
||
#
|
||
set -eo pipefail
|
||
ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
|
||
PREVIEW=1
|
||
while [[ $# -gt 0 ]]; do
|
||
case "$1" in
|
||
--preview) PREVIEW=1; shift ;;
|
||
--no-preview) PREVIEW=0; shift ;;
|
||
-h|--help) sed -n '2,8p' "$0"; exit 0 ;;
|
||
*) echo "Unknown: $1" >&2; exit 1 ;;
|
||
esac
|
||
done
|
||
# shellcheck disable=SC1091
|
||
source "${ROOT}/scripts/env.sh"
|
||
# shellcheck disable=SC1091
|
||
source "${ROOT}/scripts/lib/load_site_config.sh"
|
||
SN="${SITE_D435_SERIAL:-}"
|
||
if [[ -z "${SN}" ]]; then
|
||
echo "ERROR: cameras.d435.serial empty in site.yaml" >&2
|
||
exit 2
|
||
fi
|
||
echo "=== D435 overhead serial=${SN} ${SITE_D435_WIDTH:-1280}x${SITE_D435_HEIGHT:-720}@${SITE_D435_FPS:-30} ==="
|
||
# 只杀顶视这一台。不要 pkill 全部 realsense_view —— 那会把正在看的 D405 预览窗干掉，
|
||
# 绿框叠在 D405 窗口上，窗没了就像"伺服没画面、也没工件框"。
|
||
pkill -f "camera_name:=d435( |$)" 2>/dev/null || true
|
||
CAM_ARGS=(
|
||
--ros-args
|
||
-p camera_name:=d435
|
||
-p camera_serial:="${SN}"
|
||
-p width:="${SITE_D435_WIDTH:-1280}"
|
||
-p height:="${SITE_D435_HEIGHT:-720}"
|
||
-p fps:="${SITE_D435_FPS:-30}"
|
||
-p enable_depth:=true
|
||
-p enable_infra:=false
|
||
-p preview_stereo:=false
|
||
-p auto_exposure:=true
|
||
-p ae_limit_us:=8000
|
||
-p emitter_enabled:=true
|
||
)
|
||
if [[ "${PREVIEW}" == "1" ]]; then
|
||
ros2 run arm_application realsense_color_pub "${CAM_ARGS[@]}" -p show_preview:=false &
|
||
CAM_PID=$!
|
||
trap 'kill "${CAM_PID}" 2>/dev/null || true' EXIT INT TERM
|
||
# 工件框是 D405 像素，叠到 1280×720 的顶视图上位置全错，看起来像没检出。
|
||
ros2 run arm_application realsense_view --ros-args \
|
||
-p camera_name:=d435 \
|
||
-p overlay_detection:=false
|
||
else
|
||
exec ros2 run arm_application realsense_color_pub "${CAM_ARGS[@]}"
|
||
fi
|