sunxianghui
25 lines
739 B
Bash
Executable File
25 lines
739 B
Bash
Executable File
#!/usr/bin/env bash
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# 本机启动左手 O6 MuJoCo 仿真（ROS2 用系统 Python，依赖从 venv/user site 补齐）
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set -euo pipefail
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ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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cd "$ROOT"
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# ROS2
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# shellcheck disable=SC1091
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source /opt/ros/jazzy/setup.bash
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# shellcheck disable=SC1091
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source "$ROOT/install/setup.bash"
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# 多机通信
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export ROS_DOMAIN_ID="${ROS_DOMAIN_ID:-30}"
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export ROS_LOCALHOST_ONLY=0
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# ros2 launch 走系统 python3；把 venv 的 site-packages 挂上（含 mujoco/PyQt5）
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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:+:$PYTHONPATH}"
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fi
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exec ros2 launch linker_hand_mujoco_ros2 linker_hand_mujoco_ros2.launch.py "$@"
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