feat: 5G自动拨号、软件时钟同步、机器人端控制程序自启。

scripts/dev/start-b-side-omnid.sh

@@ -15,6 +15,10 @@ export OMNI_CONTROL_SERVER_ADDR="${OMNI_CONTROL_SERVER_ADDR}"
 export OMNI_CONTROL_RELAY_VIA="${OMNI_CONTROL_RELAY_VIA}"
 
 if [[ ! -x "./bin/b_side_omnid" ]]; then
+  if [[ "${OMNI_BOOT_MODE:-0}" == "1" ]]; then
+    echo "Missing ./bin/b_side_omnid in boot mode; build it before enabling the autostart service." >&2
+    exit 1
+  fi
   make b_side_omnid
 fi
 

scripts/dev/start-ros-receiver.sh

@@ -12,9 +12,17 @@ source_with_nounset_off() {
 
 # shellcheck disable=SC1091
 source "${SCRIPT_DIR}/load-env.sh"
+if [[ ! -f "/opt/ros/${ROS_DISTRO}/setup.bash" ]]; then
+  echo "Missing ROS distro setup: /opt/ros/${ROS_DISTRO}/setup.bash" >&2
+  exit 1
+fi
 source_with_nounset_off "/opt/ros/${ROS_DISTRO}/setup.bash"
 
 cd "${ROS_CONTROL_PY_DIR}"
+if [[ ! -f "install/setup.bash" ]]; then
+  echo "Missing ROS workspace setup: ${ROS_CONTROL_PY_DIR}/install/setup.bash" >&2
+  exit 1
+fi
 source_with_nounset_off "install/setup.bash"
 
 launch_args=(