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<fix>​ Fix format errors in README, Add rviz configuration loading.​​

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This commit is contained in:
manifoldsdk
2025-07-12 21:28:38 +08:00
parent 31bff6868b
commit 876cc931b4
14 changed files with 838 additions and 344 deletions
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script/build_ros2.sh
+51 -51
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@@ -1,73 +1,73 @@
#!/bin/bash
# 获取脚本所在目录（Odin_ROS_Driver 目录）
# Get the directory where the script is located (Odin_ROS_Driver directory)
PKG_DIR="$(cd "$(dirname "$0")/.."; pwd)"
# 计算工作空间根目录（包含 devel、build、src 的目录）
# Calculate the workspace root directory (contains devel, build, src)
WORKSPACE_ROOT="$(dirname "$(dirname "$PKG_DIR")")"
# 工作空间源码目录（包含所有包的 src）
# Workspace source directory (contains all packages)
WORKSPACE_SRC="${WORKSPACE_ROOT}/src"
PROJECT_NAME="odin_ros_driver"
PACKAGE_DIR_NAME=$(basename "$PKG_DIR")
# 定义颜色代码
# Define color codes
RED='\033[0;31m'
GREEN='\033[0;32m'
YELLOW='\033[1;33m'
NC='\033[0m' # 无颜色
NC='\033[0m'
# 从 package.xml 中提取包名
# Extract package name from package.xml
get_package_name() {
local package_xml="$1"
if [ -f "$package_xml" ]; then
# 提取 <name> 标签内容
# Extract content of <name> tag
grep -oP '<name>\K[^<]+' "$package_xml" | head -1
else
echo ""
fi
}
# 清理函数
# Clean workspace function
clean_workspace() {
echo -e "${YELLOW}🧹 清理构建目录${NC}"
echo -e "${YELLOW}Cleaning build directories${NC}"
# 清理工作空间根目录下的构建产物
# Clean build artifacts in workspace
rm -rf "${WORKSPACE_ROOT}/build"
rm -rf "${WORKSPACE_ROOT}/install"
rm -rf "${WORKSPACE_ROOT}/log"
rm -rf "${WORKSPACE_ROOT}/devel"
echo -e "${GREEN}✅ 清理完成${NC}"
echo -e "${GREEN}Cleanup complete${NC}"
}
# 运行函数
# Run node function
run_node() {
echo -e "${YELLOW}🏃‍♂️‍➡️ 运行 ROS2 节点${NC}"
echo -e "${YELLOW}Running ROS2 node${NC}"
# 检查环境文件是否存在
# Check if environment file exists
if [ ! -f "${WORKSPACE_ROOT}/install/setup.bash" ]; then
echo -e "${RED}❌ 找不到 install/setup.bash，请先执行 ./build_ros2.sh 构建项目${NC}"
echo -e "${RED}Could not find install/setup.bash, please build the project with ./build_ros2.sh first${NC}"
return 1
fi
# Source 环境并运行节点
# Source environment and run node
source "${WORKSPACE_ROOT}/install/setup.bash"
}
# 构建函数
# Build workspace function
build_workspace() {
echo -e "${YELLOW}🔍 工作空间结构:${NC}"
echo " 工作空间根目录: ${WORKSPACE_ROOT}"
echo " 源码目录: ${WORKSPACE_SRC}"
echo " 包目录: ${PKG_DIR}"
echo " 目录名: ${PACKAGE_DIR_NAME}"
echo " ROS版本: ROS2"
echo -e "${YELLOW}Workspace structure:${NC}"
echo " Workspace root: ${WORKSPACE_ROOT}"
echo " Source directory: ${WORKSPACE_SRC}"
echo " Package directory: ${PKG_DIR}"
echo " Directory name: ${PACKAGE_DIR_NAME}"
echo " ROS version: ROS2"
echo -e "${YELLOW}🔧 开始构建 ROS2 工程...${NC}"
# 清理
echo -e "${YELLOW}Starting ROS2 project build...${NC}"
cd $WS_DIR
rm -rf build install log
# 确保 ROS2 环境已加载
# Ensure ROS2 environment is loaded
if [ -f "/opt/ros/foxy/setup.bash" ]; then
source "/opt/ros/foxy/setup.bash"
elif [ -f "/opt/ros/galactic/setup.bash" ]; then
@@ -75,38 +75,38 @@ build_workspace() {
elif [ -f "/opt/ros/humble/setup.bash" ]; then
source "/opt/ros/humble/setup.bash"
else
echo -e "${RED}❌ 找不到 ROS2 的 setup.bash 文件。请确保 ROS2 已安装。${NC}"
echo -e "${RED}Could not find ROS2 setup.bash file. Please ensure ROS2 is installed.${NC}"
return 1
fi
# 创建临时 package.xml
# Create temporary package.xml
if [ -f "${PKG_DIR}/package_ros2.xml" ]; then
echo "🔄 创建临时 package.xml（使用 package_ros2.xml）"
echo "Creating temporary package.xml (using package_ros2.xml)"
cp "${PKG_DIR}/package_ros2.xml" "${PKG_DIR}/package.xml"
TEMP_PACKAGE=true
elif [ -f "${PKG_DIR}/package.xml" ]; then
echo "ℹ️ 使用现有的 package.xml"
echo "Using existing package.xml"
TEMP_PACKAGE=false
else
echo -e "${RED}❌ 在包目录中找不到 package.xml${NC}"
echo -e "${RED}Could not find package.xml in package directory${NC}"
return 1
fi
# 从 package.xml 中提取包名
# Extract package name from package.xml
PACKAGE_NAME=$(get_package_name "${PKG_DIR}/package.xml")
if [ -z "$PACKAGE_NAME" ]; then
echo -e "${RED}❌ 无法从 package.xml 中提取包名${NC}"
echo -e "${RED}Failed to extract package name from package.xml${NC}"
return 1
fi
echo " 包名: ${PACKAGE_NAME}"
echo " Package name: ${PACKAGE_NAME}"
# 设置构建系统变量
# Set build system variable
export BUILD_SYSTEM=ROS2
# 切换到工作空间根目录并构建
# Switch to workspace root and build
cd "${WORKSPACE_ROOT}" || return 1
# 使用正确的包名构建
# Build with correct package name
colcon build \
--packages-select "${PACKAGE_NAME}" \
--parallel-workers $(nproc) \
@@ -116,32 +116,32 @@ build_workspace() {
BUILD_RESULT=$?
# 构建成功，source 环境
# If build successful, source environment
if [[ $BUILD_RESULT -eq 0 ]]; then
echo -e "${GREEN}✅ ROS2 构建成功，载入环境变量：source install/setup.bash${NC}"
echo -e "${GREEN}ROS2 build successful, loading environment: source install/setup.bash${NC}"
source "${WORKSPACE_ROOT}/install/setup.bash"
else
echo -e "${RED}❌ ROS2 构建失败，请检查错误日志${NC}"
echo -e "${RED}ROS2 build failed, please check error logs${NC}"
fi
}
# 帮助函数
# Help function
show_help() {
echo -e "${YELLOW}使用说明:${NC}"
echo " ./build_ros2.sh # 构建项目"
echo " ./build_ros2.sh -c # 清理构建产物"
echo " ./build_ros2.sh -h # 显示帮助信息"
echo -e "${YELLOW}Usage:${NC}"
echo " ./build_ros2.sh # Build project"
echo " ./build_ros2.sh -c # Clean build artifacts"
echo " ./build_ros2.sh -h # Show help information"
echo ""
echo -e "${YELLOW}当前配置:${NC}"
echo " 项目名称: ${PROJECT_NAME}"
echo " 包目录: ${PKG_DIR}"
echo " 工作空间根目录: ${WORKSPACE_ROOT}"
echo " 源码目录: ${WORKSPACE_SRC}"
echo -e "${YELLOW}Current configuration:${NC}"
echo " Project name: ${PROJECT_NAME}"
echo " Package directory: ${PKG_DIR}"
echo " Workspace root: ${WORKSPACE_ROOT}"
echo " Source directory: ${WORKSPACE_SRC}"
}
# 主程序
# Main program
case "$1" in
-c|--clean)
clean_workspace