43 lines
974 B
Bash
43 lines
974 B
Bash
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#!/bin/bash
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# 启动巡检脚本
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echo ==========================================
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echo GO2 机器狗巡检启动脚本
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echo ==========================================
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# Source 环境
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source /opt/ros/humble/setup.bash
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source ~/unitree_ros2/cyclonedds_ws/install/setup.bash
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source ~/go2_robot_system/install/setup.bash
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# 检查航点文件
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ROUTE_FILE=~/go2_robot_system/config/ros2_patrol_routes/default.yaml
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if [ ! -f "$ROUTE_FILE" ]; then
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echo "❌ 错误：航点文件不存在: $ROUTE_FILE"
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exit 1
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fi
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# 显示航点信息
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echo ""
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echo "📍 航点文件: $ROUTE_FILE"
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echo ""
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echo "航点列表:"
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grep -A 5 "name:" "$ROUTE_FILE" | grep -E "(name|x:|y:|yaw:)" | head -20
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# 询问是否开始
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echo ""
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read -p "是否开始巡检？(y/n): " -n 1 -r
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echo
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if [[ ! $REPLY =~ ^[Yy]$ ]]; then
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echo "已取消"
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exit 0
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fi
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echo ""
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echo "🚀 启动巡检节点..."
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echo ""
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# 启动巡检
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ros2 run go2_patrol patrol_executor_node --ros-args -p autostart:=true
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