fix dummy2

dummy2_debug/start_dummy2_unilab.sh

@@ -0,0 +1,144 @@
+#!/bin/bash
+# Dummy2 Unilab环境启动脚本
+# 专为unilab conda环境设计，不依赖系统ROS2
+
+set -e
+
+# 配置
+DUMMY2_WS="/home/hh/dummy2/ros2/dummy2_ws"
+
+# 初始化mamba
+eval "$(mamba shell hook --shell bash)"
+
+# 函数：激活环境并检查
+setup_environment() {
+    echo "激活unilab环境..."
+    mamba activate unilab
+    
+    if ! command -v ros2 &> /dev/null; then
+        echo "错误: ROS2在unilab环境中不可用"
+        exit 1
+    fi
+    
+    echo "✓ ROS2环境准备就绪"
+}
+
+# 函数：构建工作空间
+build_workspace() {
+    echo "==================================="
+    echo "构建Dummy2工作空间"
+    echo "==================================="
+    
+    setup_environment
+    cd "$DUMMY2_WS"
+    
+    echo "清理旧构建文件..."
+    rm -rf build/ install/ log/
+    
+    echo "开始构建..."
+    colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
+    
+    echo "✓ 构建完成"
+}
+
+# 函数：启动硬件接口
+start_hardware() {
+    echo "==================================="
+    echo "启动Dummy2硬件接口"
+    echo "==================================="
+    
+    setup_environment
+    cd "$DUMMY2_WS"
+    source install/setup.bash
+    
+    echo "启动硬件接口节点..."
+    echo "按Ctrl+C停止"
+    ros2 launch dummy2_hw dummy2_hw.launch.py
+}
+
+# 函数：启动MoveIt服务
+start_moveit() {
+    echo "==================================="
+    echo "启动Dummy2 MoveIt服务"
+    echo "==================================="
+    
+    setup_environment
+    cd "$DUMMY2_WS"
+    source install/setup.bash
+    
+    echo "启动MoveIt2规划服务..."
+    echo "按Ctrl+C停止"
+    ros2 launch dummy2_moveit_config demo.launch.py
+}
+
+# 函数：检查状态
+check_status() {
+    echo "==================================="
+    echo "检查ROS2服务状态"
+    echo "==================================="
+    
+    setup_environment
+    
+    echo "当前节点:"
+    ros2 node list || echo "无节点运行"
+    
+    echo ""
+    echo "可用话题:"
+    ros2 topic list | head -10 || echo "无话题"
+    
+    echo ""
+    echo "可用动作:"
+    ros2 action list || echo "无动作服务"
+}
+
+# 函数：运行测试
+run_test() {
+    echo "==================================="
+    echo "运行Dummy2控制测试"
+    echo "==================================="
+    
+    setup_environment
+    source "$DUMMY2_WS/install/setup.bash"
+    cd /home/hh/Uni-Lab-OS
+    
+    echo "运行直接控制测试..."
+    python dummy2_debug/dummy2_direct_move.py
+}
+
+# 主程序
+case "${1:-help}" in
+    "build")
+        build_workspace
+        ;;
+    "hw"|"hardware")
+        start_hardware
+        ;;
+    "moveit")
+        start_moveit
+        ;;
+    "check"|"status")
+        check_status
+        ;;
+    "test")
+        run_test
+        ;;
+    "help"|*)
+        echo "Dummy2 Unilab环境启动脚本"
+        echo ""
+        echo "用法: $0 [命令]"
+        echo ""
+        echo "命令:"
+        echo "  build     - 构建工作空间"
+        echo "  hw        - 启动硬件接口"
+        echo "  moveit    - 启动MoveIt服务"
+        echo "  check     - 检查服务状态"
+        echo "  test      - 运行控制测试"
+        echo "  help      - 显示此帮助信息"
+        echo ""
+        echo "启动顺序:"
+        echo "1. $0 build     (首次或更新后)"
+        echo "2. $0 hw        (终端1)"
+        echo "3. $0 moveit    (终端2)"
+        echo "4. $0 test      (终端3)"
+        ;;
+esac