105 lines
3.2 KiB
Bash
Executable File
105 lines
3.2 KiB
Bash
Executable File
#!/bin/bash
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#
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# Copyright 2025 Enactic, Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# ========= Configuration =========
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ARM_SIDE=${1:-right_arm} # Required: left_arm or right_arm
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LEADER_CAN_IF=$2 # Optional: leader CAN interface
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FOLLOWER_CAN_IF=$3 # Optional: follower CAN interface
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ARM_TYPE="v10" # Fixed for now
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TMPDIR="/tmp/openarm_urdf_gen"
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# Validate arm side
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if [[ "$ARM_SIDE" != "right_arm" && "$ARM_SIDE" != "left_arm" ]]; then
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echo "[ERROR] Invalid arm_side: $ARM_SIDE"
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echo "Usage: $0 <arm_side: right_arm|left_arm> [leader_can_if] [follower_can_if]"
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exit 1
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fi
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# Set default CAN interfaces if not provided
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if [ -z "$LEADER_CAN_IF" ]; then
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if [ "$ARM_SIDE" = "right_arm" ]; then
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LEADER_CAN_IF="can0"
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else
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LEADER_CAN_IF="can1"
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fi
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fi
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if [ -z "$FOLLOWER_CAN_IF" ]; then
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if [ "$ARM_SIDE" = "right_arm" ]; then
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FOLLOWER_CAN_IF="can2"
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else
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FOLLOWER_CAN_IF="can3"
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fi
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fi
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# File paths
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LEADER_URDF_PATH="$TMPDIR/${ARM_TYPE}_leader.urdf"
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FOLLOWER_URDF_PATH="$TMPDIR/${ARM_TYPE}_follower.urdf"
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XACRO_FILE="$ARM_TYPE.urdf.xacro"
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WS_DIR=~/openarm_ros2_ws
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XACRO_PATH="$WS_DIR/src/openarm_description/urdf/robot/$XACRO_FILE"
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BIN_PATH="$WS_DIR/src/openarm_teleop/build/unilateral_control"
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# Check workspace
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if [ ! -d "$WS_DIR" ]; then
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echo "[ERROR] Could not find workspace at: $WS_DIR" >&2
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echo "We assume the default ROS 2 workspace is ~/openarm_ros2_ws." >&2
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echo "If you are using a different workspace, please update WS_DIR in this launch script." >&2
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exit 1
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fi
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# Check openarm_description package
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if [ ! -d "$WS_DIR/src/openarm_description" ]; then
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echo "[ERROR] Could not find package: $WS_DIR/src/openarm_description" >&2
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echo "Please make sure to clone openarm_description into $WS_DIR/src/" >&2
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exit 1
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fi
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# Check xacro
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if [ ! -f "$XACRO_PATH" ]; then
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echo "[ERROR] Could not find ${XACRO_FILE} under $WS_DIR/src/openarm_description/urdf/robot/" >&2
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exit 1
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fi
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# ================================
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# Check binary
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if [ ! -f "$BIN_PATH" ]; then
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echo "[ERROR] Compiled binary not found at: $BIN_PATH"
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exit 1
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fi
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# Source ROS 2
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# shellcheck source=/dev/null
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source "$WS_DIR/install/setup.bash"
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# Generate URDFs
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echo "[INFO] Generating URDFs using xacro..."
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mkdir -p "$TMPDIR"
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if ! xacro "$XACRO_PATH" bimanual:=true -o "$LEADER_URDF_PATH"; then
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echo "[ERROR] Failed to generate URDFs."
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exit 1
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fi
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cp "$LEADER_URDF_PATH" "$FOLLOWER_URDF_PATH"
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# Run binary
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echo "[INFO] Launching unilateral control..."
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"$BIN_PATH" "$LEADER_URDF_PATH" "$FOLLOWER_URDF_PATH" "$ARM_SIDE" "$LEADER_CAN_IF" "$FOLLOWER_CAN_IF"
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# Cleanup
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echo "[INFO] Cleaning up temporary files..."
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rm -rf "$TMPDIR"
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