feat: 启动命令不用环境变量

scripts/dev/README.md

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+# Dev Startup Scripts
+
+This directory lives inside the `OmniSocketGo` repo and acts as the main launch entry for the whole local setup.
+
+Default layout:
+
+```text
+~/Documents/
+  OmniSocketGo/
+    scripts/dev/
+  robot-command-center/
+```
+
+The scripts assume:
+
+- `OmniSocketGo` is the current repo
+- `robot-command-center` is a sibling directory next to it
+
+If your `robot-command-center` is elsewhere, set `ROBOT_COMMAND_CENTER_ROOT` in `robot-remote.env.local`.
+
+## Files
+
+- `robot-remote.env`: shared defaults for backend, frontend, ROS, and `b_side_omnid`
+- `robot-remote.env.local`: optional local override file loaded after `robot-remote.env`
+- `load-env.sh`: loads the shared environment into the current shell
+- `start-backend.sh`: starts Django ASGI with `uvicorn`
+- `start-frontend.sh`: starts the Vite dev server
+- `start-ros-receiver.sh`: starts the ROS2 `udp_teleop_bridge` receiver
+- `start-b-side-omnid.sh`: starts `./bin/b_side_omnid` and uses `sudo -E` by default
+- `start-dev-tmux.sh`: optional one-command `tmux` launcher for all four processes
+
+## Usage
+
+Run these from the `OmniSocketGo` repo root:
+
+```bash
+bash scripts/dev/start-backend.sh
+bash scripts/dev/start-frontend.sh
+bash scripts/dev/start-ros-receiver.sh
+bash scripts/dev/start-b-side-omnid.sh
+```
+
+If you prefer one command and use `tmux`:
+
+```bash
+bash scripts/dev/start-dev-tmux.sh
+```
+
+If you only want the shared environment for manual commands:
+
+```bash
+source scripts/dev/load-env.sh
+```
+
+## Customizing
+
+Edit `scripts/dev/robot-remote.env` for shared changes such as:
+
+- `ROBOT_COMMAND_CENTER_ROOT`
+- `CONTROL_SIDE_OMNISOCKET_SERVER_ADDR`
+- `CONTROL_SIDE_OMNISOCKET_RELAY_VIA`
+- `ROBOT_SIDE_OMNISOCKET_SERVER_ADDR`
+- `ROBOT_SIDE_OMNISOCKET_RELAY_VIA`
+- `VITE_API_BASE_URL`
+- `OMNI_CAMERA_DEVICE`
+- `OMNI_VIDEO_PEER_ID`
+- `OMNI_CONTROL_PEER_ID`
+
+Role mapping:
+
+- `start-backend.sh` uses the `CONTROL_SIDE_*` address pair
+- `start-b-side-omnid.sh` uses the `ROBOT_SIDE_*` address pair
+- `start-ros-receiver.sh` defaults to the robot-side address pair, but with `transport=unix_dgram` it usually does not need the server address
+
+Put machine-specific overrides into `scripts/dev/robot-remote.env.local`. Example:
+
+```bash
+ROBOT_COMMAND_CENTER_ROOT="$HOME/Documents/robot-command-center"
+OMNI_CAMERA_DEVICE="/dev/video30"
+B_SIDE_OMNID_USE_SUDO="0"
+```

scripts/dev/load-env.sh

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+#!/usr/bin/env bash
+set -euo pipefail
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+DEFAULT_OMNISOCKETGO_ROOT="$(cd "${SCRIPT_DIR}/../.." && pwd)"
+
+die() {
+  echo "$*" >&2
+  return 1 2>/dev/null || exit 1
+}
+
+is_omnisocketgo_root() {
+  local dir="$1"
+  [[ -f "${dir}/Makefile" && -f "${dir}/cmd/b_side_omnid.c" && -d "${dir}/ros-control-py" ]]
+}
+
+is_robot_command_center_root() {
+  local dir="$1"
+  [[ -f "${dir}/backend/config/asgi.py" && -f "${dir}/frontend/package.json" ]]
+}
+
+export OMNISOCKETGO_ROOT="${OMNISOCKETGO_ROOT:-${DEFAULT_OMNISOCKETGO_ROOT}}"
+
+ENV_FILES=(
+  "${SCRIPT_DIR}/robot-remote.env"
+  "${SCRIPT_DIR}/robot-remote.env.local"
+)
+
+for env_file in "${ENV_FILES[@]}"; do
+  if [[ -f "${env_file}" ]]; then
+    set -a
+    # shellcheck disable=SC1090
+    source "${env_file}"
+    set +a
+  fi
+done
+
+export OMNISOCKETGO_ROOT="${OMNISOCKETGO_ROOT:-${DEFAULT_OMNISOCKETGO_ROOT}}"
+export ROBOT_COMMAND_CENTER_ROOT="${ROBOT_COMMAND_CENTER_ROOT:-$(dirname "${OMNISOCKETGO_ROOT}")/robot-command-center}"
+
+if ! is_omnisocketgo_root "${OMNISOCKETGO_ROOT}"; then
+  die "OMNISOCKETGO_ROOT must point to the OmniSocketGo repo root. Current value: ${OMNISOCKETGO_ROOT}"
+fi
+
+if ! is_robot_command_center_root "${ROBOT_COMMAND_CENTER_ROOT}"; then
+  die "ROBOT_COMMAND_CENTER_ROOT must point to the robot-command-center repo root. Current value: ${ROBOT_COMMAND_CENTER_ROOT}. Set it in ${SCRIPT_DIR}/robot-remote.env.local if needed."
+fi
+
+export BACKEND_DIR="${BACKEND_DIR:-${ROBOT_COMMAND_CENTER_ROOT}/backend}"
+export FRONTEND_DIR="${FRONTEND_DIR:-${ROBOT_COMMAND_CENTER_ROOT}/frontend}"
+export ROS_CONTROL_PY_DIR="${ROS_CONTROL_PY_DIR:-${OMNISOCKETGO_ROOT}/ros-control-py}"
+export PYTHON3_BIN="${PYTHON3_BIN:-python3}"
+export PYTHON_VENV_PATH="${PYTHON_VENV_PATH:-${OMNISOCKETGO_ROOT}/.venv}"
+export BACKEND_HOST="${BACKEND_HOST:-0.0.0.0}"
+export BACKEND_PORT="${BACKEND_PORT:-8001}"
+export FRONTEND_HOST="${FRONTEND_HOST:-0.0.0.0}"
+export FRONTEND_PORT="${FRONTEND_PORT:-5173}"
+export CONTROL_SIDE_OMNISOCKET_SERVER_ADDR="${CONTROL_SIDE_OMNISOCKET_SERVER_ADDR:-}"
+export CONTROL_SIDE_OMNISOCKET_RELAY_VIA="${CONTROL_SIDE_OMNISOCKET_RELAY_VIA:-}"
+export ROBOT_SIDE_OMNISOCKET_SERVER_ADDR="${ROBOT_SIDE_OMNISOCKET_SERVER_ADDR:-}"
+export ROBOT_SIDE_OMNISOCKET_RELAY_VIA="${ROBOT_SIDE_OMNISOCKET_RELAY_VIA:-}"
+export ROS_DISTRO="${ROS_DISTRO:-jazzy}"
+export ROBOT_RECEIVER_TRANSPORT="${ROBOT_RECEIVER_TRANSPORT:-unix_dgram}"
+export ROBOT_RECEIVER_SERVER_ADDR="${ROBOT_RECEIVER_SERVER_ADDR:-${ROBOT_SIDE_OMNISOCKET_SERVER_ADDR:-}}"
+export ROBOT_RECEIVER_RELAY_VIA="${ROBOT_RECEIVER_RELAY_VIA:-${ROBOT_SIDE_OMNISOCKET_RELAY_VIA:-}}"
+export ROBOT_RECEIVER_PEER_ID="${ROBOT_RECEIVER_PEER_ID:-ros-bridge-ctrl}"
+export ROBOT_RECEIVER_EXPECTED_SENDER="${ROBOT_RECEIVER_EXPECTED_SENDER:-}"
+export ROBOT_RECEIVER_LOCAL_SOCKET_PATH="${ROBOT_RECEIVER_LOCAL_SOCKET_PATH:-/tmp/omnisocket-b-side-cmd.sock}"
+export ROBOT_RECEIVER_OUTPUT_TOPIC="${ROBOT_RECEIVER_OUTPUT_TOPIC:-/hric/robot/cmd_vel}"
+export ROBOT_RECEIVER_FRAME_ID="${ROBOT_RECEIVER_FRAME_ID:-pelvis}"
+export ROBOT_RECEIVER_WATCHDOG_TIMEOUT="${ROBOT_RECEIVER_WATCHDOG_TIMEOUT:-0.5}"
+export ROBOT_RECEIVER_PUBLISH_RATE_HZ="${ROBOT_RECEIVER_PUBLISH_RATE_HZ:-100.0}"
+export OMNI_VIDEO_SERVER_ADDR="${OMNI_VIDEO_SERVER_ADDR:-${ROBOT_SIDE_OMNISOCKET_SERVER_ADDR:-}}"
+export OMNI_VIDEO_RELAY_VIA="${OMNI_VIDEO_RELAY_VIA:-${ROBOT_SIDE_OMNISOCKET_RELAY_VIA:-}}"
+export OMNI_CONTROL_SERVER_ADDR="${OMNI_CONTROL_SERVER_ADDR:-${ROBOT_SIDE_OMNISOCKET_SERVER_ADDR:-}}"
+export OMNI_CONTROL_RELAY_VIA="${OMNI_CONTROL_RELAY_VIA:-${ROBOT_SIDE_OMNISOCKET_RELAY_VIA:-}}"
+export OMNI_CONTROL_UNIX_SOCKET_PATH="${OMNI_CONTROL_UNIX_SOCKET_PATH:-${ROBOT_RECEIVER_LOCAL_SOCKET_PATH}}"
+export B_SIDE_OMNID_USE_SUDO="${B_SIDE_OMNID_USE_SUDO:-1}"

scripts/dev/robot-remote.env

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+# Optional absolute path override for the companion repo.
+# By default the scripts assume:
+#   OmniSocketGo -> current repo
+#   robot-command-center -> sibling directory next to OmniSocketGo
+# Example:
+# ROBOT_COMMAND_CENTER_ROOT="$HOME/Documents/robot-command-center"
+
+CONTROL_SIDE_OMNISOCKET_SERVER_ADDR="81.70.156.140:10909"
+CONTROL_SIDE_OMNISOCKET_RELAY_VIA="81.70.156.140:10909"
+
+ROBOT_SIDE_OMNISOCKET_SERVER_ADDR="81.70.156.140:10909"
+ROBOT_SIDE_OMNISOCKET_RELAY_VIA="106.55.173.235:10909"
+
+CONTROL_WS_ALLOWED_ORIGINS="http://127.0.0.1:5173,http://localhost:5173"
+VITE_API_BASE_URL="http://127.0.0.1:8001"
+
+PYTHON3_BIN="python3"
+PYTHON_VENV_PATH="${OMNISOCKETGO_ROOT}/.venv"
+
+BACKEND_HOST="0.0.0.0"
+BACKEND_PORT="8001"
+
+FRONTEND_HOST="0.0.0.0"
+FRONTEND_PORT="5173"
+
+ROS_DISTRO="jazzy"
+ROBOT_RECEIVER_TRANSPORT="unix_dgram"
+ROBOT_RECEIVER_SERVER_ADDR="${ROBOT_SIDE_OMNISOCKET_SERVER_ADDR}"
+ROBOT_RECEIVER_RELAY_VIA="${ROBOT_SIDE_OMNISOCKET_RELAY_VIA}"
+ROBOT_RECEIVER_PEER_ID="ros-bridge-ctrl"
+ROBOT_RECEIVER_EXPECTED_SENDER=""
+ROBOT_RECEIVER_LOCAL_SOCKET_PATH="/tmp/omnisocket-b-side-cmd.sock"
+ROBOT_RECEIVER_OUTPUT_TOPIC="/hric/robot/cmd_vel"
+ROBOT_RECEIVER_FRAME_ID="pelvis"
+ROBOT_RECEIVER_WATCHDOG_TIMEOUT="0.5"
+ROBOT_RECEIVER_PUBLISH_RATE_HZ="100.0"
+
+OMNI_VIDEO_PEER_ID="peer-b-video"
+OMNI_VIDEO_TARGET_PEER="peer-a-video"
+OMNI_CAMERA_DEVICE="/dev/video26"
+OMNI_VIDEO_SERVER_ADDR="${ROBOT_SIDE_OMNISOCKET_SERVER_ADDR}"
+OMNI_VIDEO_RELAY_VIA="${ROBOT_SIDE_OMNISOCKET_RELAY_VIA}"
+OMNI_CONTROL_PEER_ID="peer-b-ctrl"
+OMNI_CONTROL_EXPECTED_SENDER="peer-a-ctrl"
+OMNI_CONTROL_SERVER_ADDR="${ROBOT_SIDE_OMNISOCKET_SERVER_ADDR}"
+OMNI_CONTROL_RELAY_VIA="${ROBOT_SIDE_OMNISOCKET_RELAY_VIA}"
+OMNI_CONTROL_UNIX_SOCKET_PATH="${ROBOT_RECEIVER_LOCAL_SOCKET_PATH}"
+
+B_SIDE_OMNID_USE_SUDO="1"

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

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+#!/usr/bin/env bash
+set -euo pipefail
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+# shellcheck disable=SC1091
+source "${SCRIPT_DIR}/load-env.sh"
+
+cd "${OMNISOCKETGO_ROOT}"
+
+export OMNISOCKET_SERVER_ADDR="${ROBOT_SIDE_OMNISOCKET_SERVER_ADDR}"
+export OMNISOCKET_RELAY_VIA="${ROBOT_SIDE_OMNISOCKET_RELAY_VIA}"
+export OMNI_VIDEO_SERVER_ADDR="${OMNI_VIDEO_SERVER_ADDR}"
+export OMNI_VIDEO_RELAY_VIA="${OMNI_VIDEO_RELAY_VIA}"
+export OMNI_CONTROL_SERVER_ADDR="${OMNI_CONTROL_SERVER_ADDR}"
+export OMNI_CONTROL_RELAY_VIA="${OMNI_CONTROL_RELAY_VIA}"
+
+if [[ ! -x "./bin/b_side_omnid" ]]; then
+  make b_side_omnid
+fi
+
+if [[ "${B_SIDE_OMNID_USE_SUDO}" == "1" && "${EUID}" -ne 0 ]]; then
+  exec sudo -E ./bin/b_side_omnid
+fi
+
+exec ./bin/b_side_omnid

scripts/dev/start-backend.sh

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+#!/usr/bin/env bash
+set -euo pipefail
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+# shellcheck disable=SC1091
+source "${SCRIPT_DIR}/load-env.sh"
+
+if [[ ! -d "${PYTHON_VENV_PATH}" ]]; then
+  "${PYTHON3_BIN}" -m venv "${PYTHON_VENV_PATH}"
+fi
+
+# shellcheck disable=SC1091
+source "${PYTHON_VENV_PATH}/bin/activate"
+
+cd "${BACKEND_DIR}"
+export OMNISOCKET_SERVER_ADDR="${CONTROL_SIDE_OMNISOCKET_SERVER_ADDR}"
+export OMNISOCKET_RELAY_VIA="${CONTROL_SIDE_OMNISOCKET_RELAY_VIA}"
+exec python -m uvicorn config.asgi:application --host "${BACKEND_HOST}" --port "${BACKEND_PORT}"

scripts/dev/start-dev-tmux.sh

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+#!/usr/bin/env bash
+set -euo pipefail
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+SESSION_NAME="${1:-robot-remote}"
+
+if ! command -v tmux >/dev/null 2>&1; then
+  echo "tmux is required for this launcher" >&2
+  exit 1
+fi
+
+if tmux has-session -t "${SESSION_NAME}" 2>/dev/null; then
+  exec tmux attach -t "${SESSION_NAME}"
+fi
+
+tmux new-session -d -s "${SESSION_NAME}" -n backend "bash -lc '${SCRIPT_DIR}/start-backend.sh'"
+tmux new-window -t "${SESSION_NAME}:" -n frontend "bash -lc '${SCRIPT_DIR}/start-frontend.sh'"
+tmux new-window -t "${SESSION_NAME}:" -n ros "bash -lc '${SCRIPT_DIR}/start-ros-receiver.sh'"
+tmux new-window -t "${SESSION_NAME}:" -n b-side "bash -lc '${SCRIPT_DIR}/start-b-side-omnid.sh'"
+
+exec tmux attach -t "${SESSION_NAME}"

scripts/dev/start-frontend.sh

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+#!/usr/bin/env bash
+set -euo pipefail
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+# shellcheck disable=SC1091
+source "${SCRIPT_DIR}/load-env.sh"
+
+cd "${FRONTEND_DIR}"
+exec npm run dev -- --host "${FRONTEND_HOST}" --port "${FRONTEND_PORT}"

scripts/dev/start-ros-receiver.sh

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+#!/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}"