277 lines
8.0 KiB
Bash
277 lines
8.0 KiB
Bash
#!/usr/bin/env bash
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# Shared environment bootstrap for the open-source go2-nav2-amcl workspace.
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# Source this from scripts that need ROS 2 + Unitree DDS + this workspace.
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_go2_os_fail() {
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printf '[go2_env] ERROR: %s\n' "$*" >&2
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return 1 2>/dev/null || exit 1
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}
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_go2_os_script_dir="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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export GO2_REPO_ROOT="$(cd "${_go2_os_script_dir}/.." && pwd)"
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if [[ -n "${1:-}" ]]; then
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GO2_OS_ROLE="$1"
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fi
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_go2_os_restore_nounset=0
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case "$-" in
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*u*)
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_go2_os_restore_nounset=1
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set +u
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;;
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esac
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_go2_runtime_env="${GO2_OS_RUNTIME_ENV:-${GO2_REPO_ROOT}/scripts/go2_runtime.env}"
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if [[ -f "${_go2_runtime_env}" ]]; then
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# shellcheck disable=SC1090
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source "${_go2_runtime_env}"
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fi
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_go2_os_filter_old_go2_path_var() {
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local var_name="$1"
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local raw_value="${!var_name:-}"
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local filtered=""
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local part
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[[ -n "${raw_value}" ]] || return 0
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IFS=':' read -r -a _go2_os_path_parts <<< "${raw_value}"
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for part in "${_go2_os_path_parts[@]}"; do
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[[ -n "${part}" ]] || continue
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if [[ "${part}" == *"/GO2/"* || "${part}" == *"/GO2" ]]; then
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continue
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fi
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if [[ -z "${filtered}" ]]; then
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filtered="${part}"
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else
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filtered="${filtered}:${part}"
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fi
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done
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printf -v "${var_name}" '%s' "${filtered}"
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export "${var_name}"
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}
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_go2_os_cyclonedds_uri() {
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local iface="$1"
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local peers="${2:-}"
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local discovery_xml=""
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local peer_xml=""
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local peer
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peers="${peers//,/ }"
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for peer in ${peers}; do
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[[ -n "${peer}" ]] || continue
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peer_xml="${peer_xml}<Peer Address=\"${peer}\"/>"
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done
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if [[ -n "${peer_xml}" ]]; then
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discovery_xml="<Discovery><Peers>${peer_xml}</Peers></Discovery>"
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fi
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printf '<CycloneDDS><Domain><General><Interfaces><NetworkInterface name="%s" priority="default" multicast="default" /></Interfaces></General>%s</Domain></CycloneDDS>' "${iface}" "${discovery_xml}"
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}
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_go2_os_iface_exists() {
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local iface="$1"
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[[ -n "${iface}" && -d "/sys/class/net/${iface}" ]]
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}
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_go2_os_iface_operstate() {
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local iface="$1"
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cat "/sys/class/net/${iface}/operstate" 2>/dev/null || true
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}
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_go2_os_iface_carrier() {
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local iface="$1"
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cat "/sys/class/net/${iface}/carrier" 2>/dev/null || true
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}
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_go2_os_iface_ipv4() {
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local iface="$1"
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ip -4 -o addr show dev "${iface}" 2>/dev/null | awk '{print $4}' | cut -d/ -f1 | head -n 1
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}
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_go2_os_iface_ready() {
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local iface="$1"
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local require_ipv4="${2:-1}"
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local state=""
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local carrier=""
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local ipv4=""
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_go2_os_iface_exists "${iface}" || return 1
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state="$(_go2_os_iface_operstate "${iface}")"
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[[ "${state}" == "up" ]] || return 1
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carrier="$(_go2_os_iface_carrier "${iface}")"
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if [[ -n "${carrier}" && "${carrier}" != "1" ]]; then
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return 1
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fi
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if [[ "${require_ipv4}" == "1" ]]; then
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ipv4="$(_go2_os_iface_ipv4 "${iface}")"
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[[ -n "${ipv4}" ]] || return 1
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fi
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return 0
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}
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_go2_os_iface_status_text() {
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local iface="$1"
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if ! _go2_os_iface_exists "${iface}"; then
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printf 'missing'
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return
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fi
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local state carrier ipv4
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state="$(_go2_os_iface_operstate "${iface}")"
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carrier="$(_go2_os_iface_carrier "${iface}")"
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ipv4="$(_go2_os_iface_ipv4 "${iface}")"
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printf 'state=%s carrier=%s ipv4=%s' "${state:-unknown}" "${carrier:-n/a}" "${ipv4:-none}"
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}
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_go2_os_role_transport_policy() {
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if [[ "${GO2_OS_FORCE_WIRED:-0}" == "1" ]]; then
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printf 'wired_required'
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return
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fi
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case "${GO2_OS_ROLE}" in
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mapping|map|slam|save_map|teleop|build)
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printf 'wired_required'
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;;
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dashboard|nav|navigation|patrol|inspection)
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printf 'wired_required'
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;;
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*)
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printf 'wired_required'
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;;
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esac
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}
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_go2_os_select_iface() {
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local policy="$1"
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local selected_iface=""
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local selected_reason=""
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local fallback_active=0
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case "${policy}" in
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wired_required)
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if _go2_os_iface_ready "${GO2_WIRED_IFACE}" 1; then
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selected_iface="${GO2_WIRED_IFACE}"
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selected_reason="wired_required:${GO2_WIRED_IFACE}"
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else
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GO2_NETWORK_ERROR="wired_required:${GO2_WIRED_IFACE}:$(_go2_os_iface_status_text "${GO2_WIRED_IFACE}")"
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export GO2_NETWORK_ERROR
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return 1
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fi
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;;
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wireless_preferred)
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if _go2_os_iface_ready "${GO2_WIRELESS_IFACE}" 1; then
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selected_iface="${GO2_WIRELESS_IFACE}"
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selected_reason="wireless_selected:${GO2_WIRELESS_IFACE}"
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elif _go2_os_iface_ready "${GO2_WIRED_IFACE}" 1; then
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selected_iface="${GO2_WIRED_IFACE}"
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selected_reason="wireless_unavailable_using_wired_fallback:${GO2_WIRELESS_IFACE}:${GO2_WIRED_IFACE}"
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fallback_active=1
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else
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GO2_NETWORK_ERROR="robot_ros_network_unavailable:${GO2_WIRELESS_IFACE}:${GO2_WIRED_IFACE}"
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export GO2_NETWORK_ERROR
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return 1
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fi
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;;
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*)
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GO2_NETWORK_ERROR="unknown_network_policy:${policy}"
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export GO2_NETWORK_ERROR
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return 1
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;;
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esac
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GO2_OS_SELECTED_IFACE="${selected_iface}"
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GO2_OS_SELECTED_IFACE_REASON="${selected_reason}"
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GO2_OS_FALLBACK_ACTIVE="${fallback_active}"
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export GO2_OS_SELECTED_IFACE GO2_OS_SELECTED_IFACE_REASON GO2_OS_FALLBACK_ACTIVE
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return 0
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}
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for _go2_os_path_var in AMENT_PREFIX_PATH CMAKE_PREFIX_PATH COLCON_PREFIX_PATH PYTHONPATH LD_LIBRARY_PATH PATH; do
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_go2_os_filter_old_go2_path_var "${_go2_os_path_var}"
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done
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: "${GO2_OS_ROLE:=generic}"
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: "${GO2_WIRED_IFACE:=ens160}"
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: "${GO2_WIRELESS_IFACE:=ens192}"
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: "${GO2_OS_MAPPING_IFACE:=${GO2_WIRED_IFACE}}"
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: "${GO2_OS_NAV_IFACE:=${GO2_WIRED_IFACE}}"
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: "${GO2_OS_DASHBOARD_IFACE:=${GO2_WIRED_IFACE}}"
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: "${GO2_OS_MAPPING_PEERS:=}"
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: "${GO2_OS_NAV_PEERS:=}"
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: "${GO2_OS_DASHBOARD_PEERS:=${GO2_OS_NAV_PEERS}}"
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: "${GO2_UNITREE_SETUP:=${HOME}/unitree_ros2/cyclonedds_ws/install/setup.bash}"
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: "${GO2_OS_MAP_DIR:=${HOME}/go2_maps}"
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: "${GO2_OS_MAP_NAME:=competition_map}"
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GO2_TRANSPORT_POLICY="$(_go2_os_role_transport_policy)"
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export GO2_TRANSPORT_POLICY
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unset GO2_NETWORK_ERROR
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unset GO2_OS_SELECTED_IFACE
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unset GO2_OS_SELECTED_IFACE_REASON
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unset GO2_OS_FALLBACK_ACTIVE
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if [[ -z "${GO2_ROS_IFACE:-}" ]]; then
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_go2_os_select_iface "${GO2_TRANSPORT_POLICY}" || _go2_os_fail "${GO2_NETWORK_ERROR}"
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GO2_ROS_IFACE="${GO2_OS_SELECTED_IFACE}"
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fi
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if [[ -z "${GO2_DDS_PEERS:-}" ]]; then
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case "${GO2_OS_ROLE}" in
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mapping|map|slam|save_map|teleop|build)
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GO2_DDS_PEERS="${GO2_OS_MAPPING_PEERS}"
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;;
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dashboard)
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GO2_DDS_PEERS="${GO2_OS_DASHBOARD_PEERS}"
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;;
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nav|navigation|patrol|inspection)
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GO2_DDS_PEERS="${GO2_OS_NAV_PEERS}"
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;;
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*)
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GO2_DDS_PEERS="${GO2_OS_MAPPING_PEERS}"
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;;
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esac
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fi
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[[ -f /opt/ros/humble/setup.bash ]] || _go2_os_fail "missing /opt/ros/humble/setup.bash"
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[[ -f "${GO2_UNITREE_SETUP}" ]] || _go2_os_fail "missing Unitree setup: ${GO2_UNITREE_SETUP}"
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[[ -d "/sys/class/net/${GO2_ROS_IFACE}" ]] || _go2_os_fail "network interface not found: ${GO2_ROS_IFACE}"
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_go2_os_iface_state="$(_go2_os_iface_operstate "${GO2_ROS_IFACE}")"
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if [[ "${_go2_os_iface_state}" != "up" && "${GO2_ALLOW_IFACE_DOWN:-0}" != "1" ]]; then
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_go2_os_fail "network interface ${GO2_ROS_IFACE} is ${_go2_os_iface_state:-unknown}; connect the Go2 network first"
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fi
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# shellcheck disable=SC1091
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source /opt/ros/humble/setup.bash
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# shellcheck disable=SC1090
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source "${GO2_UNITREE_SETUP}"
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export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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export CYCLONEDDS_URI="$(_go2_os_cyclonedds_uri "${GO2_ROS_IFACE}" "${GO2_DDS_PEERS}")"
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export GO2_OS_ROLE
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export GO2_WIRED_IFACE
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export GO2_WIRELESS_IFACE
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export GO2_OS_MAPPING_IFACE
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export GO2_OS_NAV_IFACE
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export GO2_OS_DASHBOARD_IFACE
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export GO2_OS_MAPPING_PEERS
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export GO2_OS_NAV_PEERS
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export GO2_OS_DASHBOARD_PEERS
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export GO2_DDS_PEERS
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export GO2_ROS_IFACE
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export GO2_OS_MAP_DIR
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export GO2_OS_MAP_NAME
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if [[ "${GO2_OS_SKIP_WORKSPACE_SETUP:-0}" != "1" && -f "${GO2_REPO_ROOT}/install/setup.bash" ]]; then
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# shellcheck disable=SC1091
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source "${GO2_REPO_ROOT}/install/setup.bash"
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fi
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if [[ "${_go2_os_restore_nounset}" == "1" ]]; then
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set -u
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fi
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unset _go2_os_script_dir _go2_runtime_env _go2_os_iface_state _go2_os_restore_nounset
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unset _go2_os_path_var _go2_os_path_parts
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unset -f _go2_os_filter_old_go2_path_var
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unset -f _go2_os_cyclonedds_uri
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