From 4ba0f63758653a1992e1ca4be99fcd1b01283606 Mon Sep 17 00:00:00 2001
From: LengedZhao <867178694@qq.com>
Date: Mon, 10 Aug 2026 16:01:28 +0800
Subject: [PATCH] fix: use complete vendor message overlay for rosbag

---
 docs/天工3.0本地同构臂遥操迁移部署指南.md | 7 +++++--
 tg3_local_teleop/README.md                | 4 ++++
 tg3_local_teleop/run_data_recorder.sh     | 7 ++++++-
 3 files changed, 15 insertions(+), 3 deletions(-)

diff --git a/docs/天工3.0本地同构臂遥操迁移部署指南.md b/docs/天工3.0本地同构臂遥操迁移部署指南.md
index 2546470..fd9e2f3 100644
--- a/docs/天工3.0本地同构臂遥操迁移部署指南.md
+++ b/docs/天工3.0本地同构臂遥操迁移部署指南.md
@@ -1052,8 +1052,11 @@ systemctl --user enable --now tg3-data-recorder.service
 systemctl --user restart tg3-local-teleop.service
 ```
 
-录制脚本必须能依次加载 `/opt/ros/jazzy`、`/home/nvidia/xos`、
-`/opt/robot_tele_server/install` 和本项目 `ros2_py/install`；否则自定义消息可能无法解码。
+录制脚本必须依次加载 `/opt/ros/jazzy`、`/home/nvidia/xos` 和
+`/opt/robot_tele_server/install`，但**不能**再加载本项目 `ros2_py/install`。后者是桥接
+Python 进程专用的最小 `ArmStatus` 绑定，会遮蔽厂家完整 `ros2_bridge_msgs` C++ 库，导致
+rosbag 加载 `RobotState/ArmCtrl` 时出现 undefined symbol。`run.sh` 仍需项目 overlay；
+`run_data_recorder.sh` 只用厂家完整消息 overlay。
 还需 Python 3 的 PyYAML（Ubuntu 包 `python3-yaml`）解析 rosbag metadata。
 迁移时在 `config.toml [data_collection]` 核对 `base_directory`、20 GiB 余量、30 分钟上限、
 明确 topic 白名单和 required topics。不要改成 `ros2 bag record -a`，相机/点云需另行估算
diff --git a/tg3_local_teleop/README.md b/tg3_local_teleop/README.md
index ac4a0d3..3fee2de 100644
--- a/tg3_local_teleop/README.md
+++ b/tg3_local_teleop/README.md
@@ -179,6 +179,10 @@ MCAP 使用 `zstd_fast`、64 MiB cache、每 300 秒分片；每条 episode 最
 `manifest.json` 和 `READY`，最后才原子进入 `ready/`。Nvidia 需已安装 `python3-yaml`
 （现场已验证 PyYAML 6.0.1）。
 
+录制服务只加载厂家完整 `/opt/robot_tele_server/install` 消息 overlay，不加载本项目
+`ros2_py/install`；项目 overlay 仅供桥的 Python `ArmStatus` 绑定使用。两者混在同一个
+rosbag 环境会让部分 `ros2_bridge_msgs` C++ 类型支持出现动态库符号冲突。
+
 部署两个机器人侧服务：
 
 ```bash
diff --git a/tg3_local_teleop/run_data_recorder.sh b/tg3_local_teleop/run_data_recorder.sh
index 47be1bb..189d354 100755
--- a/tg3_local_teleop/run_data_recorder.sh
+++ b/tg3_local_teleop/run_data_recorder.sh
@@ -9,7 +9,6 @@ required_setups=(
   /opt/ros/jazzy/setup.bash
   /home/nvidia/xos/setup.bash
   /opt/robot_tele_server/install/setup.bash
-  "$APP_DIR/ros2_py/install/setup.bash"
 )
 for setup_file in "${required_setups[@]}"; do
   if [[ ! -f "$setup_file" ]]; then
@@ -19,6 +18,12 @@ for setup_file in "${required_setups[@]}"; do
   # shellcheck disable=SC1090
   source "$setup_file"
 done
+
+# Do not source $APP_DIR/ros2_py here.  That deliberately minimal package only
+# supplies the two Python wire types used by tg3_local_teleop.py; placing its
+# partial ros2_bridge_msgs libraries ahead of the vendor's complete C++ package
+# makes rosbag2 fail to load RobotState/ArmCtrl type support.  The recorder must
+# use /opt/robot_tele_server/install for the complete vendor message package.
 set -u
 
 exec python3 "$APP_DIR/data_recorder_node.py" \