284 lines
6.9 KiB
Markdown
284 lines
6.9 KiB
Markdown
# LinkerHand O6 MuJoCo（ROS2）启动说明
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本机跑 MuJoCo 左手仿真，可用本机或另一台电脑通过 ROS2 话题控制。
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---
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## 环境要求
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- Ubuntu + ROS 2 **Jazzy**
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- 工作区路径：`~/linker_hand_mujoco_ros2`
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- Python 依赖在 `venv` 中（含 `mujoco`、`PyQt5`）
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- **注意**：`ros2 launch` 使用系统 `/usr/bin/python3`，仅 `source venv` **不够**，需用下文的启动脚本或设置 `PYTHONPATH`
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---
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## 一、编译（首次或改代码后）
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```bash
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cd ~/linker_hand_mujoco_ros2
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source /opt/ros/jazzy/setup.bash
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colcon build --symlink-install --packages-select linker_hand_mujoco_ros2
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source install/setup.bash
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```
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`venv` 目录已放 `COLCON_IGNORE`，不会被 colcon 误扫。
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---
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## 二、本机启动仿真（推荐）
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```bash
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cd ~/linker_hand_mujoco_ros2
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./run_sim.sh
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```
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脚本会自动：
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- `source` ROS2 与本工作区
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- `ROS_DOMAIN_ID=30`，`ROS_LOCALHOST_ONLY=0`（便于多机）
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- 把 `venv` 的 `site-packages` 加入 `PYTHONPATH`（解决找不到 `mujoco`）
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成功后应出现：
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1. MuJoCo 3D 窗口（左手 O6）
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2. Joint 进度条窗口（实时关节角）
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### 手动启动（等效）
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```bash
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cd ~/linker_hand_mujoco_ros2
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source /opt/ros/jazzy/setup.bash
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source install/setup.bash
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export PYTHONPATH="$PWD/venv/lib/python3.12/site-packages:$PYTHONPATH"
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ros2 launch linker_hand_mujoco_ros2 linker_hand_mujoco_ros2.launch.py
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```
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当前 launch 默认：
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| 参数 | 值 |
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|------|-----|
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| `hand_type` | `left` |
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| `hand_joint` | `O6` |
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| 控制话题 | `/cb_left_hand_control_cmd` |
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---
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## 三、控制话题说明
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- 话题：`/cb_left_hand_control_cmd`
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- 类型：`sensor_msgs/msg/JointState`
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- `position`：**6 个数**，范围约 **0–255**
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| 索引 | 含义 |
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|------|------|
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| 0 | 拇指弯曲 |
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| 1 | 拇指横摆 |
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| 2 | 食指弯曲 |
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| 3 | 中指弯曲 |
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| 4 | 无名指弯曲 |
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| 5 | 小指弯曲 |
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约定（当前映射）：约 **255 = 张开，0 = 握紧**。远指节由 mimic 跟随近指节。
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### 本机发一帧（握拳示例）
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```bash
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source /opt/ros/jazzy/setup.bash
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export ROS_DOMAIN_ID=30
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export ROS_LOCALHOST_ONLY=0
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ros2 topic pub --once /cb_left_hand_control_cmd sensor_msgs/msg/JointState "{
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header: {stamp: {sec: 0, nanosec: 0}, frame_id: ''},
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name: [],
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position: [0.0, 100.0, 0.0, 0.0, 0.0, 0.0],
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velocity: [],
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effort: []
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}"
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```
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张开：
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```bash
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ros2 topic pub --once /cb_left_hand_control_cmd sensor_msgs/msg/JointState "{
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header: {stamp: {sec: 0, nanosec: 0}, frame_id: ''},
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name: [],
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position: [255.0, 255.0, 255.0, 255.0, 255.0, 255.0],
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velocity: [],
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effort: []
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}"
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```
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---
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## 四、两台电脑共用 ROS2
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ROS2 **没有** ROS1 的 `roscore`。两边约定同一个 Domain 即可。
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### 两边都设置
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```bash
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export ROS_DOMAIN_ID=30
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export ROS_LOCALHOST_ONLY=0
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```
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### 电脑 A：仿真机
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```bash
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cd ~/linker_hand_mujoco_ros2
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./run_sim.sh
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```
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### 电脑 B：控制机（发指令 / handretarget / SDK）
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```bash
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source /opt/ros/jazzy/setup.bash
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export ROS_DOMAIN_ID=30
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export ROS_LOCALHOST_ONLY=0
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# 确认话题与收发端
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ros2 topic list
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ros2 topic info /cb_left_hand_control_cmd -v
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```
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`topic info -v` 中应能看到：
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- **Publisher**：例如 `handretarget_node`
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- **Subscription**：至少包含 `linker_hand_mujoco_ros2_node`
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### 查是否真的在发数据
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有 Publisher ≠ 正在发数据。请用：
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```bash
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ros2 topic hz /cb_left_hand_control_cmd
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ros2 topic echo /cb_left_hand_control_cmd
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```
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- `hz` 无输出 → 对端没在 publish
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- `echo --once` 会一直等到有一帧；无数据时像卡住，优先用上面两条
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### 跨机能看见话题但收不到数据时
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1. 确认两边 `ROS_DOMAIN_ID`、`ROS_LOCALHOST_ONLY=0` 一致，并重启节点
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2. 互相 `ping` 通；尽量同一网段 / 有线；关闭路由器 **AP 隔离**
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3. 本机 `ufw` 可先确认：`sudo ufw status`（不活动则不是防火墙）
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4. 需要时可配置 CycloneDDS 静态 Peer（两边 IP 写入 `~/cyclonedds.xml`），然后：
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```bash
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export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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export CYCLONEDDS_URI=file://$HOME/cyclonedds.xml
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```
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---
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## 五、常用自检命令
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```bash
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# 节点是否在
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ros2 node list
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# 话题列表（仿真未启动时可能还没有 /cb_left_hand_control_cmd）
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ros2 topic list
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# 订阅/发布数量与节点名
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ros2 topic info /cb_left_hand_control_cmd -v
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# 频率 / 内容
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ros2 topic hz /cb_left_hand_control_cmd
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ros2 topic echo /cb_left_hand_control_cmd
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```
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---
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## 六、常见问题
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### `ModuleNotFoundError: No module named 'mujoco'`
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`ros2 launch` 没用到 venv。请用：
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```bash
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./run_sim.sh
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```
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或设置 `PYTHONPATH`（见上文「手动启动」）。
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### `topic list` 只有 `/rosout`，没有左手话题
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仿真节点未运行。先 `./run_sim.sh`，再 `ros2 topic list`。
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### 改左右手
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编辑：
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`src/linkerhand-sim/linker_hand_mujoco_ros2/launch/linker_hand_mujoco_ros2.launch.py`
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- 左手：`hand_type: 'left'` → 话题 `/cb_left_hand_control_cmd`
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- 右手：`hand_type: 'right'` → 话题 `/cb_right_hand_control_cmd`
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改完后若未用 symlink，再执行一次 `colcon build --symlink-install`。
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---
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## 七、通用曲线录制（仿真 / 真机同一套话题）
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**只传一个文件给对端即可：**
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`tools/hand_curve_recorder_standalone.py`
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两边都要：已 `source` ROS2、`numpy`、`matplotlib`。
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```bash
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source /opt/ros/jazzy/setup.bash
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export ROS_DOMAIN_ID=30
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export ROS_LOCALHOST_ONLY=0
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# 仿真端
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python3 tools/hand_curve_recorder_standalone.py --hand left --channel 3 --label sim
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# 真机端（把该 py 拷过去后）
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python3 hand_curve_recorder_standalone.py --hand left --channel 3 --label real
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```
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对端发 `/cb_left_hand_control_cmd`；本机 **Ctrl+C** → `reports/hand_curves/` 下生成 csv + 三曲线图。
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默认还订 `/cb_left_hand_state`（`position`=0～255，`effort` 可放电流）。话题名不同时：
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```bash
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python3 hand_curve_recorder_standalone.py --state-topic /你的状态话题 --channel 3 --label real
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```
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通道：`0拇指弯 1拇指横摆 2食指 3中指 4无名指 5小指`。
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---
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要「ROS 发指令 + 仿真里出 q/v/τ 图」：
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```bash
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cd ~/linker_hand_mujoco_ros2
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source /opt/ros/jazzy/setup.bash
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export ROS_DOMAIN_ID=30
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export ROS_LOCALHOST_ONLY=0
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# 自测：订话题 + 本地 MuJoCo + 自动发中指慢扫 + 可选 viewer
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./venv/bin/python tools/ros_mujoco_record_qvt.py \
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--hand left --finger middle --viewer --self-sweep
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# 对端发指令时：去掉 --self-sweep
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./venv/bin/python tools/ros_mujoco_record_qvt.py \
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--hand left --finger middle --viewer
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# Ctrl+C → reports/O6_middle_ros/*_qvt.png
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```
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---
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## 八、文件与模型位置
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| 路径 | 说明 |
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|------|------|
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| `./run_sim.sh` | 本机一键启动 |
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| `src/.../launch/linker_hand_mujoco_ros2.launch.py` | 左右手 / 型号 |
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| `src/.../urdf/O6/` | O6 左右手 MJCF（来自 mujoco_testwork 验证模型） |
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| `src/.../utils/joint_monitor.py` | Joint 进度条 UI |
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| `venv/` | Python 依赖（勿放进 colcon 扫描，已 IGNORE） |
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