#!/usr/bin/env bash
# 启动 O6/G20 关节控制 UI（系统 ROS2 + tkinter，不要用 Isaac python.sh）
set -eo pipefail

# ROS setup.bash 会读未定义变量，不能在 set -u 下 source
if [[ -f /opt/ros/jazzy/setup.bash ]]; then
  # shellcheck disable=SC1091
  source /opt/ros/jazzy/setup.bash
elif [[ -f /opt/ros/humble/setup.bash ]]; then
  # shellcheck disable=SC1091
  source /opt/ros/humble/setup.bash
else
  echo "未找到 ROS2 setup.bash（jazzy/humble）" >&2
  exit 1
fi

SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
exec python3 "$SCRIPT_DIR/hand_control_ui.py" "$@"