sunxianghui
30 lines
958 B
Bash
Executable File
30 lines
958 B
Bash
Executable File
#!/usr/bin/env bash
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# 启动真机 LinkerHand ROS2 SDK（O6 左手 / can0）
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set -eo pipefail
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WS="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)/linker_hand_ros2_sdk_ws"
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# ROS setup.bash 会引用未定义变量，不能开 nounset (-u)
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set +u
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source /opt/ros/jazzy/setup.bash
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source "$WS/install/setup.bash"
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set -u
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export ROS_DOMAIN_ID="${ROS_DOMAIN_ID:-30}"
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export ROS_LOCALHOST_ONLY=0
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# 开启 CAN（需 sudo；蓝灯常亮）
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if ! ip link show can0 &>/dev/null; then
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echo "[warn] 未检测到 can0，请插入 USB-CAN 后执行："
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echo " sudo ip link set can0 up type can bitrate 1000000"
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else
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if ! ip link show can0 | grep -q 'UP'; then
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echo "[info] 尝试拉起 can0 ..."
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sudo ip link set can0 up type can bitrate 1000000 || true
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fi
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fi
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echo "启动: ros2 launch linker_hand_ros2_sdk linker_hand.launch.py"
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echo "配置: hand_type=left hand_joint=O6 can=can0"
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set +u
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exec ros2 launch linker_hand_ros2_sdk linker_hand.launch.py "$@"
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