feat: 启动命令不用环境变量

scripts/dev/start-ros-receiver.sh

@@ -0,0 +1,24 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+# shellcheck disable=SC1091
+source "${SCRIPT_DIR}/load-env.sh"
+# shellcheck disable=SC1091
+source "/opt/ros/${ROS_DISTRO}/setup.bash"
+
+cd "${ROS_CONTROL_PY_DIR}"
+# shellcheck disable=SC1091
+source "install/setup.bash"
+
+exec ros2 launch udp_teleop_bridge robot_udp_receiver.launch.py \
+  "transport:=${ROBOT_RECEIVER_TRANSPORT}" \
+  "server_addr:=${ROBOT_RECEIVER_SERVER_ADDR}" \
+  "relay_via:=${ROBOT_RECEIVER_RELAY_VIA}" \
+  "peer_id:=${ROBOT_RECEIVER_PEER_ID}" \
+  "expected_sender:=${ROBOT_RECEIVER_EXPECTED_SENDER}" \
+  "local_socket_path:=${ROBOT_RECEIVER_LOCAL_SOCKET_PATH}" \
+  "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}"