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59 lines
1.4 KiB
Markdown
59 lines
1.4 KiB
Markdown
# Dummy2 Unilab 启动指南
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## 🚀 快速启动 (推荐)
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### 使用统一脚本
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```bash
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cd /home/hh/Uni-Lab-OS/dummy2_debug
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# 1. 检查状态
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./start_dummy2_unilab.sh check
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# 2. 启动硬件接口 (终端1)
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./start_dummy2_unilab.sh hw
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# 3. 运行控制测试 (终端2)
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./start_dummy2_unilab.sh test
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# 4. 启动MoveIt服务 (可选，终端3)
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./start_dummy2_unilab.sh moveit
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```
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## 📋 详细步骤
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### 首次使用或更新后构建
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```bash
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./start_dummy2_unilab.sh build
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```
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### 手动启动流程
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```bash
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# 硬件接口 (终端1)
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cd /home/hh/dummy2/ros2/dummy2_ws
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mamba activate unilab
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source install/setup.bash
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ros2 launch dummy2_hw dummy2_hw.launch.py
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# 控制脚本 (终端2)
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cd /home/hh/Uni-Lab-OS/dummy2_debug
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mamba activate unilab
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source /home/hh/dummy2/ros2/dummy2_ws/install/setup.bash
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python dummy2_direct_move.py
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```
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## ⚙️ 可用命令
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| 命令 | 功能 |
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|------|------|
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| `./start_dummy2_unilab.sh check` | 检查系统状态 |
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| `./start_dummy2_unilab.sh build` | 构建工作空间 |
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| `./start_dummy2_unilab.sh hw` | 启动硬件接口 |
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| `./start_dummy2_unilab.sh test` | 运行控制测试 |
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| `./start_dummy2_unilab.sh moveit` | 启动MoveIt服务 |
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## ⚠️ 重要提示
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- ✅ 使用 `mamba activate unilab` (ROS2已包含在内)
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- ❌ 不需要 `source /opt/ros/humble/setup.bash`
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- ✅ 确保硬件接口先启动
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- ✅ 机械臂需在安全位置
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