change into compressed image to publish overlay

2026-04-09 15:51:52 +08:00
parent cdfe249111
commit 78b8d371ea
5 changed files with 237 additions and 48 deletions
@@ -0,0 +1,128 @@
+#!/bin/bash
+
+# Get the directory where the script is located (Odin_ROS_Driver directory)
+PKG_DIR="$(cd "$(dirname "$0")/.."; pwd)"
+# Calculate the workspace root directory (contains devel, build, src)
+WORKSPACE_ROOT="$(dirname "$(dirname "$PKG_DIR")")"
+# Workspace source directory (contains all packages)
+WORKSPACE_SRC="${WORKSPACE_ROOT}/src"
+PROJECT_NAME="odin_ros_driver"
+
+# Define color codes
+RED='\033[0;31m'
+GREEN='\033[0;32m'
+YELLOW='\033[1;33m'
+NC='\033[0m' 
+
+# Clean workspace function
+clean_workspace() {
+    echo -e "${YELLOW}Cleaning build directories${NC}"
+    
+    # Clean build artifacts in workspace
+    rm -rf "${WORKSPACE_ROOT}/build" 
+    rm -rf "${WORKSPACE_ROOT}/install" 
+    rm -rf "${WORKSPACE_ROOT}/log"
+    rm -rf "${WORKSPACE_ROOT}/devel"
+    
+    echo -e "${GREEN}Cleanup complete${NC}"
+}
+
+# Run node function
+run_node() {
+    echo -e "${YELLOW}Running ROS1 node${NC}"
+    
+    # Check if environment file exists
+    if [ ! -f "${WORKSPACE_ROOT}/devel/setup.bash" ]; then
+        echo -e "${RED}Could not find devel/setup.bash, please build the project with ./build_ros1.sh first${NC}"
+        return 1
+    fi
+    
+    # Source environment and run node
+    source "${WORKSPACE_ROOT}/devel/setup.bash"
+    
+}
+
+# Build workspace function
+build_workspace() {
+    echo -e "${YELLOW}Workspace structure:${NC}"
+    echo "  Workspace root: ${WORKSPACE_ROOT}"
+    echo "  Source directory: ${WORKSPACE_SRC}"
+    echo "  Package directory: ${PKG_DIR}"
+    echo "  ROS version: ROS1"
+    
+    echo -e "${YELLOW}Starting ROS1 project build...${NC}"
+    
+    # Clean
+    cd $WS_DIR
+    rm -rf build devel install
+    
+    # Ensure ROS1 environment is loaded
+    if [ -f "/opt/ros/noetic/setup.bash" ]; then
+        source "/opt/ros/noetic/setup.bash"
+    elif [ -f "/opt/ros/melodic/setup.bash" ]; then
+        source "/opt/ros/melodic/setup.bash"
+    else
+        echo -e "${RED}Could not find ROS1 setup.bash file. Please ensure ROS1 is installed.${NC}"
+        return 1
+    fi
+    
+    # Create temporary package.xml
+    if [ -f "${PKG_DIR}/package_ros1.xml" ]; then
+        echo "Creating temporary package.xml (using package_ros1.xml)"
+        cp "${PKG_DIR}/package_ros1.xml" "${PKG_DIR}/package.xml"
+        TEMP_PACKAGE=true
+    elif [ -f "${PKG_DIR}/package.xml" ]; then
+        echo "Using existing package.xml"
+    else
+        echo -e "${RED}Could not find package.xml in package directory${NC}"
+        return 1
+    fi
+    
+    # Set build system variable
+    export BUILD_SYSTEM=ROS1
+    
+    # Switch to workspace root and build
+    cd "${WORKSPACE_ROOT}" || return 1
+    catkin_make -DBUILD_SYSTEM=ROS1 -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -j$(nproc)
+    BUILD_RESULT=$?
+    
+    # If build successful, source environment
+    if [[ $BUILD_RESULT -eq 0 ]]; then
+        echo -e "${GREEN}ROS1 build successful, loading environment: source devel/setup.bash${NC}"
+        source "${WORKSPACE_ROOT}/devel/setup.bash"
+    else
+        echo -e "${RED}ROS1 build failed, please check error logs${NC}"
+    fi
+    
+
+}
+
+# Help function
+show_help() {
+    echo -e "${YELLOW}Usage:${NC}"
+    echo "  ./build_ros.sh          # Build project"
+    echo "  ./build_ros.sh -c       # Clean build artifacts"
+    echo "  ./build_ros.sh -h       # Show help information"
+    echo ""
+    echo -e "${YELLOW}Current configuration:${NC}"
+    echo "  Project name: ${PROJECT_NAME}"
+    echo "  Package directory: ${PKG_DIR}"
+    echo "  Workspace root: ${WORKSPACE_ROOT}"
+    echo "  Source directory: ${WORKSPACE_SRC}"
+}
+
+# Main
+case "$1" in
+    -c|--clean)
+        clean_workspace
+        ;;
+    -r|--run)
+        run_node
+        ;;
+    -h|--help)
+        show_help
+        ;;
+    *)
+        build_workspace
+        ;;
+esac