#!/usr/bin/env bash
# 启动真机 LinkerHand ROS2 SDK（O6 左手 / can0）
set -eo pipefail
WS="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)/linker_hand_ros2_sdk_ws"

# ROS setup.bash 会引用未定义变量，不能开 nounset (-u)
set +u
source /opt/ros/jazzy/setup.bash
source "$WS/install/setup.bash"
set -u

export ROS_DOMAIN_ID="${ROS_DOMAIN_ID:-30}"
export ROS_LOCALHOST_ONLY=0

# 开启 CAN（需 sudo；蓝灯常亮）
if ! ip link show can0 &>/dev/null; then
  echo "[warn] 未检测到 can0，请插入 USB-CAN 后执行："
  echo "  sudo ip link set can0 up type can bitrate 1000000"
else
  if ! ip link show can0 | grep -q 'UP'; then
    echo "[info] 尝试拉起 can0 ..."
    sudo ip link set can0 up type can bitrate 1000000 || true
  fi
fi

echo "启动: ros2 launch linker_hand_ros2_sdk linker_hand.launch.py"
echo "配置: hand_type=left hand_joint=O6 can=can0"
set +u
exec ros2 launch linker_hand_ros2_sdk linker_hand.launch.py "$@"