95 lines
2.6 KiB
Bash
95 lines
2.6 KiB
Bash
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#!/usr/bin/env bash
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set -euo pipefail
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usage() {
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cat <<'EOF'
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Usage:
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scripts/go2_start_mapping.sh [--rviz|--no-rviz]
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Starts SLAM mapping on the wired Go2 interface.
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Defaults:
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- RViz: auto; enabled only when DISPLAY/WAYLAND_DISPLAY exists
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Examples:
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scripts/go2_start_mapping.sh
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scripts/go2_start_mapping.sh --rviz
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scripts/go2_start_mapping.sh --no-rviz
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EOF
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}
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rviz_mode="${GO2_OS_USE_RVIZ:-auto}"
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for arg in "$@"; do
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case "$arg" in
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--rviz) rviz_mode=true ;;
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--no-rviz|--headless) rviz_mode=false ;;
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-h|--help) usage; exit 0 ;;
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*) printf '[go2_start_mapping] unknown argument: %s
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' "$arg" >&2; usage; exit 2 ;;
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esac
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done
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script_dir="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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repo_root="$(cd "${script_dir}/.." && pwd)"
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export GO2_OS_ROLE=mapping
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unset GO2_ROS_IFACE
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if pgrep -f 'ros2 launch go2_navigation2 go2_nav2.launch.py' >/dev/null; then
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printf '[go2_start_mapping] ERROR: Nav2 appears to be running. Stop navigation before mapping.
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' >&2
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pgrep -af 'ros2 launch go2_navigation2 go2_nav2.launch.py' >&2 || true
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exit 3
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fi
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if pgrep -f 'ros2 launch go2_core go2_start.launch.py' >/dev/null; then
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printf '[go2_start_mapping] ERROR: mapping already appears to be running. Stop it first:
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' >&2
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printf ' scripts/go2_stop_mapping.sh
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' >&2
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pgrep -af 'ros2 launch go2_core go2_start.launch.py' >&2 || true
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exit 4
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fi
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# shellcheck disable=SC1091
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source "${script_dir}/go2_env.sh" mapping
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case "$(printf '%s' "${rviz_mode}" | tr '[:upper:]' '[:lower:]')" in
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auto)
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if [[ -n "${DISPLAY:-}" || -n "${WAYLAND_DISPLAY:-}" ]]; then
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use_rviz=true
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rviz_reason="auto:display-detected"
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else
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use_rviz=false
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rviz_reason="auto:no-display-detected"
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fi
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;;
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1|true|yes|on)
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use_rviz=true
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rviz_reason="forced:true"
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;;
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0|false|no|off)
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use_rviz=false
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rviz_reason="forced:false"
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;;
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*)
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printf '[go2_start_mapping] ERROR: invalid RViz mode: %s (expected auto/true/false)
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' "${rviz_mode}" >&2
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exit 6
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;;
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esac
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cd "${repo_root}"
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printf '[go2_start_mapping] policy=%s iface=%s reason=%s rviz=%s (%s)
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' "${GO2_TRANSPORT_POLICY:-mapping}" "${GO2_ROS_IFACE}" "${GO2_OS_SELECTED_IFACE_REASON:-n/a}" "${use_rviz}" "${rviz_reason}"
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printf '[go2_start_mapping] starting SLAM mapping on wired iface %s
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' "${GO2_ROS_IFACE}"
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printf '[go2_start_mapping] keep this terminal open while mapping. Press Ctrl+C to stop after saving the map.
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'
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# 清除 DDS 缓存，避免历史地图残留
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rm -rf /dev/shm/fastrtps_* /dev/shm/cyclonedds_* /tmp/cyclonedds_* 2>/dev/null || true
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printf '[go2_start_mapping] DDS cache cleared — clean start\n'
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exec ros2 launch go2_core go2_start.launch.py use_rviz:="${use_rviz}"
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