sunxianghui
0b727785c6
Includes G20 PLAN/cmd_u8 bridge, joint mapping, dual-hand sim scripts, and G20/L20/O6 URDF with USD payloads for Isaac Sim integration. Co-authored-by: Cursor <cursoragent@cursor.com>
19 lines
601 B
Bash
Executable File
19 lines
601 B
Bash
Executable File
#!/usr/bin/env bash
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# 启动 O6/G20 关节控制 UI（系统 ROS2 + tkinter，不要用 Isaac python.sh）
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set -eo pipefail
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# ROS setup.bash 会读未定义变量，不能在 set -u 下 source
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if [[ -f /opt/ros/jazzy/setup.bash ]]; then
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# shellcheck disable=SC1091
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source /opt/ros/jazzy/setup.bash
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elif [[ -f /opt/ros/humble/setup.bash ]]; then
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# shellcheck disable=SC1091
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source /opt/ros/humble/setup.bash
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else
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echo "未找到 ROS2 setup.bash（jazzy/humble）" >&2
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exit 1
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fi
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SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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exec python3 "$SCRIPT_DIR/hand_control_ui.py" "$@"
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