41 lines
2.0 KiB
Bash
41 lines
2.0 KiB
Bash
#!/usr/bin/env bash
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set -eo pipefail
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cd "$(dirname "$0")/.."
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source /opt/ros/jazzy/setup.bash
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source install/setup.bash
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export ROS_DOMAIN_ID=74
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export ROS_AUTOMATIC_DISCOVERY_RANGE=LOCALHOST
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case "${1:-}" in
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glove)
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exec ros2 run linkerhand_retarget handretarget --ros-args \
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-p calibration:=false -p ports:='["/dev/ttyUSB0"]' -p baudrate:=2000000 \
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-r /cb_left_hand_control_cmd:=/ffg_trial/left_cmd \
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-r /cb_left_hand_matrix_touch:=/ffg_trial/unused_left_touch \
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-r /cb_right_hand_matrix_touch:=/ffg_trial/unused_right_touch \
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-r /hand_teleop_param:=/ffg_trial/unused_params
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;;
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hand|half|full|follow)
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scale=0.0
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slew=10.0
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speed=30
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confirmation=ARM
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case "$1" in
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hand) echo '相对当前位置 +/-10 SDK单位小幅测试。' ;;
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half) scale=0.5; confirmation=ARM50; echo '50%位置映射：目标=启动时机械手位置+0.5*(手套映射位置-启动时机械手位置)。' ;;
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full) scale=1.0; confirmation=ARM100; echo '100%标定位置映射。必须先完成50%空载检查；不是满速/满力。' ;;
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follow) scale=1.0; slew=60.0; speed=60; confirmation=FOLLOW; echo '完整位置跟随档：仅在慢速全范围已验证正常后使用。' ;;
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esac
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echo "空载测试，速度${speed}、目标缓变${slew}单位/秒。收到手套数据后可能立即开始运动。不是急停保护。"
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read -r -p "确认周围无人、无夹持物且可立即断电，输入 $confirmation：" answer
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[[ "$answer" == "$confirmation" ]] || exit 1
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exec ros2 run linker_hand_ros2_sdk linker_hand_sdk --ros-args \
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-p hand_type:=left -p hand_joint:=G20 -p can:=can0 \
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-p is_touch:=false -p modbus:=None -p safe_trial:=true \
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-p trial_motion_scale:="$scale" \
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-p trial_slew_rate:="$slew" -p trial_motor_speed:="$speed" \
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-p state_poll_rate:=10.0 -p velocity_poll_rate:=2.0 \
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-r /cb_left_hand_control_cmd:=/ffg_trial/left_cmd
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;;
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*) echo "用法：bash tools/ffg_trial.sh glove|hand|half|full|follow"; exit 2 ;;
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esac
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