74 lines
2.3 KiB
Bash
Executable File
74 lines
2.3 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=${1:-right_arm}
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CAN_IF=${2:-can0}
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ARM_TYPE=${3:-v10}
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TMPDIR="/tmp/openarm_urdf_gen"
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URDF_NAME="${ARM_TYPE}_bimanual.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/$XACRO_FILE"
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URDF_OUT="$TMPDIR/$URDF_NAME"
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BIN_PATH=~/openarm_teleop/build/gravity_comp # adjust if needed
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# ===============================
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# Check workspace
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if [ ! -d "$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 $WS_DIR/src/openarm_description/urdf/robot/" >&2
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exit 1
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fi
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# Check build binary
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if [ ! -f "$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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# Generate URDF
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echo "[INFO] Generating URDF using xacro..."
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# shellcheck source=/dev/null
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source $WS_DIR/install/setup.bash
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mkdir -p "$TMPDIR"
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if ! xacro "$XACRO_PATH" bimanual:=true -o "$URDF_OUT"; then
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echo "[ERROR] Failed to generate URDF."
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exit 1
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fi
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# Run gravity compensation binary
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echo "[INFO] Launching gravity compensation..."
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"$BIN_PATH" "$ARM_SIDE" "$CAN_IF" "$URDF_OUT"
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# Cleanup
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echo "[INFO] Cleaning up tmp dir..."
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rm -rf "$TMPDIR"
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