158 lines
4.5 KiB
Bash
158 lines
4.5 KiB
Bash
#!/bin/bash
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# 获取脚本所在目录（Odin_ROS_Driver 目录）
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PKG_DIR="$(cd "$(dirname "$0")/.."; pwd)"
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# 计算工作空间根目录（包含 devel、build、src 的目录）
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WORKSPACE_ROOT="$(dirname "$(dirname "$PKG_DIR")")"
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# 工作空间源码目录（包含所有包的 src）
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WORKSPACE_SRC="${WORKSPACE_ROOT}/src"
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PROJECT_NAME="odin_ros_driver"
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PACKAGE_DIR_NAME=$(basename "$PKG_DIR")
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# 定义颜色代码
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RED='\033[0;31m'
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GREEN='\033[0;32m'
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YELLOW='\033[1;33m'
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NC='\033[0m' # 无颜色
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# 从 package.xml 中提取包名
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get_package_name() {
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local package_xml="$1"
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if [ -f "$package_xml" ]; then
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# 提取 <name> 标签内容
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grep -oP '<name>\K[^<]+' "$package_xml" | head -1
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else
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echo ""
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fi
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}
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# 清理函数
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clean_workspace() {
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echo -e "${YELLOW}🧹 清理构建目录${NC}"
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# 清理工作空间根目录下的构建产物
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rm -rf "${WORKSPACE_ROOT}/build"
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rm -rf "${WORKSPACE_ROOT}/install"
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rm -rf "${WORKSPACE_ROOT}/log"
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rm -rf "${WORKSPACE_ROOT}/devel"
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echo -e "${GREEN}✅ 清理完成${NC}"
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}
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# 运行函数
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run_node() {
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echo -e "${YELLOW}🏃♂️➡️ 运行 ROS2 节点${NC}"
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# 检查环境文件是否存在
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if [ ! -f "${WORKSPACE_ROOT}/install/setup.bash" ]; then
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echo -e "${RED}❌ 找不到 install/setup.bash，请先执行 ./build_ros2.sh 构建项目${NC}"
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return 1
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fi
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# Source 环境并运行节点
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source "${WORKSPACE_ROOT}/install/setup.bash"
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}
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# 构建函数
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build_workspace() {
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echo -e "${YELLOW}🔍 工作空间结构:${NC}"
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echo " 工作空间根目录: ${WORKSPACE_ROOT}"
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echo " 源码目录: ${WORKSPACE_SRC}"
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echo " 包目录: ${PKG_DIR}"
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echo " 目录名: ${PACKAGE_DIR_NAME}"
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echo " ROS版本: ROS2"
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echo -e "${YELLOW}🔧 开始构建 ROS2 工程...${NC}"
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# 清理
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cd $WS_DIR
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rm -rf build install log
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# 确保 ROS2 环境已加载
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if [ -f "/opt/ros/foxy/setup.bash" ]; then
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source "/opt/ros/foxy/setup.bash"
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elif [ -f "/opt/ros/galactic/setup.bash" ]; then
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source "/opt/ros/galactic/setup.bash"
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elif [ -f "/opt/ros/humble/setup.bash" ]; then
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source "/opt/ros/humble/setup.bash"
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else
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echo -e "${RED}❌ 找不到 ROS2 的 setup.bash 文件。请确保 ROS2 已安装。${NC}"
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return 1
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fi
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# 创建临时 package.xml
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if [ -f "${PKG_DIR}/package_ros2.xml" ]; then
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echo "🔄 创建临时 package.xml（使用 package_ros2.xml）"
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cp "${PKG_DIR}/package_ros2.xml" "${PKG_DIR}/package.xml"
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TEMP_PACKAGE=true
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elif [ -f "${PKG_DIR}/package.xml" ]; then
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echo "ℹ️ 使用现有的 package.xml"
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TEMP_PACKAGE=false
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else
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echo -e "${RED}❌ 在包目录中找不到 package.xml${NC}"
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return 1
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fi
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# 从 package.xml 中提取包名
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PACKAGE_NAME=$(get_package_name "${PKG_DIR}/package.xml")
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if [ -z "$PACKAGE_NAME" ]; then
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echo -e "${RED}❌ 无法从 package.xml 中提取包名${NC}"
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return 1
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fi
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echo " 包名: ${PACKAGE_NAME}"
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# 设置构建系统变量
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export BUILD_SYSTEM=ROS2
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# 切换到工作空间根目录并构建
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cd "${WORKSPACE_ROOT}" || return 1
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# 使用正确的包名构建
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colcon build \
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--packages-select "${PACKAGE_NAME}" \
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--parallel-workers $(nproc) \
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--cmake-args \
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-DBUILD_SYSTEM=ROS2 \
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-DCMAKE_EXPORT_COMPILE_COMMANDS=ON
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BUILD_RESULT=$?
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# 构建成功，source 环境
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if [[ $BUILD_RESULT -eq 0 ]]; then
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echo -e "${GREEN}✅ ROS2 构建成功，载入环境变量：source install/setup.bash${NC}"
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source "${WORKSPACE_ROOT}/install/setup.bash"
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else
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echo -e "${RED}❌ ROS2 构建失败，请检查错误日志${NC}"
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fi
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}
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# 帮助函数
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show_help() {
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echo -e "${YELLOW}使用说明:${NC}"
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echo " ./build_ros2.sh # 构建项目"
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echo " ./build_ros2.sh -c # 清理构建产物"
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echo " ./build_ros2.sh -h # 显示帮助信息"
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echo ""
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echo -e "${YELLOW}当前配置:${NC}"
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echo " 项目名称: ${PROJECT_NAME}"
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echo " 包目录: ${PKG_DIR}"
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echo " 工作空间根目录: ${WORKSPACE_ROOT}"
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echo " 源码目录: ${WORKSPACE_SRC}"
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}
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# 主程序
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case "$1" in
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-c|--clean)
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clean_workspace
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;;
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-r|--run)
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run_node
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;;
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-h|--help)
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show_help
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;;
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*)
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build_workspace
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;;
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esac |