28 lines
783 B
Bash
Executable File
28 lines
783 B
Bash
Executable File
#!/usr/bin/env bash
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# G20 右手关节弧度监视 GUI（默认 6 位小数）
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# 订阅 /sim/mujoco/g20/right/joint_state
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set -eo pipefail
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ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/../../.." && pwd)"
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cd "$ROOT"
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set +u
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# shellcheck disable=SC1091
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source /opt/ros/jazzy/setup.bash
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if [[ -f "$ROOT/install/setup.bash" ]]; then
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# shellcheck disable=SC1091
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source "$ROOT/install/setup.bash"
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fi
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set -u
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VENV_SITE="$ROOT/venv/lib/python3.12/site-packages"
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if [[ -d "$VENV_SITE" ]]; then
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export PYTHONPATH="$VENV_SITE${PYTHONPATH:+:$PYTHONPATH}"
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fi
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PKG_SRC="$ROOT/src/linkerhand-sim/linker_hand_mujoco_ros2"
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export PYTHONPATH="$PKG_SRC${PYTHONPATH:+:$PYTHONPATH}"
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exec python3 -m linker_hand_mujoco_ros2.g20_joint_monitor_gui \
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--topic /sim/mujoco/g20/right/joint_state \
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"$@"
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