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fix: 修复启动bash路径

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This commit is contained in:
Mock
2026-04-10 11:56:04 +08:00
parent 251d69c4ff
commit 6c5d410bdc
1 changed files with 22 additions and 10 deletions
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32
scripts/dev/start-ros-receiver.sh
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@@ -17,14 +17,26 @@ source_with_nounset_off "/opt/ros/${ROS_DISTRO}/setup.bash"
cd "${ROS_CONTROL_PY_DIR}" cd "${ROS_CONTROL_PY_DIR}"
source_with_nounset_off "install/setup.bash" source_with_nounset_off "install/setup.bash"
exec ros2 launch udp_teleop_bridge robot_udp_receiver.launch.py \ launch_args=(
"transport:=${ROBOT_RECEIVER_TRANSPORT}" \ "transport:=${ROBOT_RECEIVER_TRANSPORT}"
"server_addr:=${ROBOT_RECEIVER_SERVER_ADDR}" \ "peer_id:=${ROBOT_RECEIVER_PEER_ID}"
"relay_via:=${ROBOT_RECEIVER_RELAY_VIA}" \ "local_socket_path:=${ROBOT_RECEIVER_LOCAL_SOCKET_PATH}"
"peer_id:=${ROBOT_RECEIVER_PEER_ID}" \ "output_topic:=${ROBOT_RECEIVER_OUTPUT_TOPIC}"
"expected_sender:=${ROBOT_RECEIVER_EXPECTED_SENDER}" \ "frame_id:=${ROBOT_RECEIVER_FRAME_ID}"
"local_socket_path:=${ROBOT_RECEIVER_LOCAL_SOCKET_PATH}" \ "watchdog_timeout:=${ROBOT_RECEIVER_WATCHDOG_TIMEOUT}"
"output_topic:=${ROBOT_RECEIVER_OUTPUT_TOPIC}" \
"frame_id:=${ROBOT_RECEIVER_FRAME_ID}" \
"watchdog_timeout:=${ROBOT_RECEIVER_WATCHDOG_TIMEOUT}" \
"publish_rate_hz:=${ROBOT_RECEIVER_PUBLISH_RATE_HZ}" "publish_rate_hz:=${ROBOT_RECEIVER_PUBLISH_RATE_HZ}"
)
if [[ -n "${ROBOT_RECEIVER_SERVER_ADDR}" ]]; then
launch_args+=("server_addr:=${ROBOT_RECEIVER_SERVER_ADDR}")
fi
if [[ -n "${ROBOT_RECEIVER_RELAY_VIA}" ]]; then
launch_args+=("relay_via:=${ROBOT_RECEIVER_RELAY_VIA}")
fi
if [[ -n "${ROBOT_RECEIVER_EXPECTED_SENDER}" ]]; then
launch_args+=("expected_sender:=${ROBOT_RECEIVER_EXPECTED_SENDER}")
fi
exec ros2 launch udp_teleop_bridge robot_udp_receiver.launch.py "${launch_args[@]}"