mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
synced 2026-02-05 14:05:12 +00:00
346 lines
9.9 KiB
Bash
Executable File
346 lines
9.9 KiB
Bash
Executable File
#!/bin/bash
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# Dummy2 Unilab环境启动脚本
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# 专为unilab conda环境设计，不依赖系统ROS2
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set -e
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# 动态配置路径
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SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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PROJECT_ROOT="$(dirname "$SCRIPT_DIR")"
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# 自动检测 dummy2_ws 路径
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DUMMY2_WS_CANDIDATES=(
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"$HOME/dummy2/ros2/dummy2_ws"
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"$HOME/ros2/dummy2_ws"
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"$PROJECT_ROOT/../dummy2_ws"
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"$(find "$HOME" -maxdepth 3 -name "dummy2_ws" -type d 2>/dev/null | head -1)"
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)
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DUMMY2_WS=""
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for ws in "${DUMMY2_WS_CANDIDATES[@]}"; do
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if [ -d "$ws" ] && [ -f "$ws/src/dummy2_hw/package.xml" ]; then
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DUMMY2_WS="$ws"
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break
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fi
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done
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if [ -z "$DUMMY2_WS" ]; then
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echo "错误: 无法找到 dummy2_ws 工作空间"
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echo "请确保以下位置之一存在 dummy2_ws:"
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for ws in "${DUMMY2_WS_CANDIDATES[@]}" ; do
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echo " $ws"
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done
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exit 1
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fi
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echo "使用 dummy2_ws: $DUMMY2_WS"
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# 初始化mamba
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eval "$(mamba shell hook --shell bash)"
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# 函数：激活环境并检查
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setup_environment() {
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echo "激活unilab环境..."
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# 检查 mamba 是否可用
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if ! command -v mamba &> /dev/null; then
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echo "错误: mamba 未安装或不在PATH中"
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echo "请先安装 mamba 或 conda"
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exit 1
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fi
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# 激活 unilab 环境
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if ! mamba activate unilab 2>/dev/null; then
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echo "错误: 无法激活 unilab 环境"
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echo "请确保 unilab 环境已创建"
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exit 1
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fi
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# 检查 ROS2 是否可用
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if ! command -v ros2 &> /dev/null; then
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echo "错误: ROS2在unilab环境中不可用"
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echo "请在 unilab 环境中安装 ROS2"
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exit 1
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fi
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echo "✓ ROS2环境准备就绪 ($(ros2 --version 2>/dev/null || echo '未知版本'))"
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echo "✓ 工作空间: $DUMMY2_WS"
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}
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# 函数：构建工作空间
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build_workspace() {
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echo "==================================="
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echo "构建Dummy2工作空间"
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echo "==================================="
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setup_environment
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cd "$DUMMY2_WS"
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echo "清理旧构建文件..."
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rm -rf build/ install/ log/
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echo "开始构建..."
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colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
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echo "✓ 构建完成"
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}
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# 函数：启动CAN2ETH通信服务
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start_can2eth() {
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echo "==================================="
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echo "启动CAN2ETH通信服务"
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echo "==================================="
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setup_environment
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cd "$DUMMY2_WS"
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source install/setup.bash
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echo "启动CAN2ETH通信服务..."
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echo "作用: 建立与机械臂硬件的CAN总线通信连接"
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echo "按Ctrl+C停止"
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ros2 launch dummy2_can2eth dummy2_can2eth_server.launch.py
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}
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# 函数：启动硬件接口
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start_hardware() {
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echo "==================================="
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echo "启动Dummy2硬件接口"
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echo "==================================="
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setup_environment
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cd "$DUMMY2_WS"
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source install/setup.bash
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echo "启动硬件接口节点..."
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echo "注意: 请确保CAN2ETH服务已在另一个终端启动"
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echo "按Ctrl+C停止"
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ros2 launch dummy2_hw dummy2_hw.launch.py
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}
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# 函数：启动MoveIt服务
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start_moveit() {
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echo "==================================="
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echo "启动Dummy2 MoveIt服务"
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echo "==================================="
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setup_environment
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cd "$DUMMY2_WS"
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source install/setup.bash
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# 检查是否指定无图形界面模式
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if [ "$2" = "no-gui" ] || [ "$2" = "headless" ]; then
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echo "启动MoveIt2规划服务 (无图形界面)..."
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echo "作用: 启动MoveIt后端服务进行路径规划和运动控制"
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echo "按Ctrl+C停止"
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ros2 launch dummy2_moveit_config demo.launch.py use_rviz:=false
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else
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echo "启动MoveIt2规划服务 (带RViz图形界面)..."
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echo "作用: 启动MoveIt服务和RViz可视化界面"
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echo "按Ctrl+C停止"
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ros2 launch dummy2_moveit_config demo.launch.py
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fi
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}
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# 函数：检查状态
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check_status() {
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echo "==================================="
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echo "检查ROS2服务状态"
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echo "==================================="
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setup_environment
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echo "当前节点:"
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ros2 node list || echo "无节点运行"
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echo ""
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echo "可用话题:"
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ros2 topic list | head -10 || echo "无话题"
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echo ""
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echo "可用动作:"
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ros2 action list || echo "无动作服务"
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}
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# 函数：运行测试
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run_test() {
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echo "==================================="
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echo "运行Dummy2控制测试"
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echo "==================================="
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setup_environment
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source "$DUMMY2_WS/install/setup.bash"
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cd "$SCRIPT_DIR"
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# 检查可用的测试脚本
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AVAILABLE_TESTS=()
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if [ -f "dummy2_direct_move.py" ]; then
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AVAILABLE_TESTS+=("direct:dummy2_direct_move.py")
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fi
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if [ -f "force_home.py" ]; then
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AVAILABLE_TESTS+=("home:force_home.py")
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fi
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if [ -f "test_complete_integration.py" ]; then
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AVAILABLE_TESTS+=("integration:test_complete_integration.py")
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fi
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if [ -f "dummy2_move_demo.py" ]; then
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AVAILABLE_TESTS+=("demo:dummy2_move_demo.py")
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fi
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if [ -f "final_demo.py" ]; then
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AVAILABLE_TESTS+=("final:final_demo.py")
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fi
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if [ ${#AVAILABLE_TESTS[@]} -eq 0 ]; then
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echo "错误: 未找到测试脚本"
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exit 1
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fi
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# 如果指定了测试类型
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if [ -n "$2" ]; then
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case "$2" in
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"direct"|"d")
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echo "运行直接控制测试..."
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python dummy2_direct_move.py
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;;
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"home"|"h")
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echo "运行归位测试..."
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python force_home.py
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;;
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"integration"|"i")
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echo "运行集成测试..."
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python test_complete_integration.py
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;;
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"demo")
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echo "运行移动演示..."
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python dummy2_move_demo.py
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;;
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"final"|"f")
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echo "运行最终演示..."
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python final_demo.py
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;;
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*)
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echo "未知测试类型: $2"
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echo "可用类型: direct, home, integration, demo, final"
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exit 1
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;;
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esac
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else
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# 默认运行直接控制测试
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echo "运行直接控制测试..."
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python dummy2_direct_move.py
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fi
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}
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# 函数：显示配置信息
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show_info() {
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echo "==================================="
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echo "Dummy2 配置信息"
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echo "==================================="
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echo "脚本位置: $SCRIPT_DIR"
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echo "项目根目录: $PROJECT_ROOT"
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echo "工作空间: $DUMMY2_WS"
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echo ""
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echo "环境检查:"
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if command -v mamba &> /dev/null; then
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echo "✓ mamba 可用: $(which mamba)"
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else
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echo "✗ mamba 不可用"
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fi
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echo ""
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echo "可用测试脚本:"
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cd "$SCRIPT_DIR"
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for script in dummy2_direct_move.py force_home.py test_complete_integration.py dummy2_move_demo.py final_demo.py; do
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if [ -f "$script" ]; then
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echo "✓ $script"
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else
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echo "✗ $script (未找到)"
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fi
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done
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echo ""
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echo "工作空间状态:"
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if [ -f "$DUMMY2_WS/install/setup.bash" ]; then
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echo "✓ 工作空间已构建"
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else
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echo "✗ 工作空间未构建 (运行: $0 build)"
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fi
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}
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# 主程序
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case "${1:-help}" in
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"build")
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build_workspace
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;;
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"can2eth"|"can")
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start_can2eth
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;;
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"hw"|"hardware")
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start_hardware
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;;
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"moveit")
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start_moveit "$@"
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;;
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"check"|"status")
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check_status
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;;
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"info")
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show_info
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;;
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"test")
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run_test "$@"
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;;
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"help"|*)
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echo "Dummy2 Unilab环境启动脚本"
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echo ""
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echo "用法: $0 [命令] [选项]"
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echo ""
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echo "命令:"
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echo " build - 构建工作空间"
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echo " can2eth (can) - 启动CAN2ETH通信服务"
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echo " hw - 启动硬件接口"
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echo " moveit [模式] - 启动MoveIt服务"
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echo " check - 检查服务状态"
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echo " info - 显示配置信息"
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echo " test [类型] - 运行控制测试"
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echo " help - 显示此帮助信息"
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echo ""
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echo "MoveIt模式:"
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echo " (默认) - 启动带RViz图形界面"
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echo " no-gui - 启动无图形界面模式"
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echo " headless - 同no-gui"
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echo ""
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echo "测试类型:"
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echo " direct (d) - 直接关节控制测试 (默认)"
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echo " home (h) - 归位控制测试"
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echo " integration (i) - Unilab集成测试"
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echo " demo - 移动演示"
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echo " final (f) - 最终演示"
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echo ""
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echo "启动顺序 (标准流程):"
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echo "1. $0 build (首次或更新后)"
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echo "2. $0 can2eth (终端1 - CAN2ETH通信)"
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echo "3. $0 moveit no-gui (终端2 - MoveIt服务)"
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echo "4. $0 test [类型] (终端3 - 控制测试)"
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echo ""
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echo "快速启动 (如果已有CAN2ETH):"
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echo "1. $0 hw (终端1 - 硬件接口)"
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echo "2. $0 test [类型] (终端2 - 控制测试)"
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echo ""
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echo "示例:"
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echo " $0 can2eth # 启动CAN2ETH通信"
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echo " $0 moveit no-gui # 启动MoveIt(无界面)"
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echo " $0 test direct # 运行直接控制测试"
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echo " $0 test home # 运行归位测试"
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echo ""
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echo "自动检测路径:"
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echo " 脚本目录: $SCRIPT_DIR"
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if [ -n "$DUMMY2_WS" ]; then
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echo " 工作空间: $DUMMY2_WS"
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else
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echo " 工作空间: 未找到"
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fi
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;;
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esac
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