38 lines
1.6 KiB
Bash
38 lines
1.6 KiB
Bash
#!/usr/bin/env bash
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# 在已有 ROS master + MAVROS（已连飞控）的前提下启动 flight_intent 伴飞桥节点。
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# 若希望一键连 MAVROS：用同目录 run_flight_bridge_with_mavros.sh
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#
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# 用法（在 voice_drone_assistant 根目录）：
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# bash scripts/run_flight_intent_bridge_ros1.sh
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# bash scripts/run_flight_intent_bridge_ros1.sh my_bridge # 节点名前缀（anonymous 仍会加后缀）
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#
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# 另开终端发意图（示例降落，默认订阅全局 /input）：
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# rostopic pub -1 /input std_msgs/String \
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# "{data: '{\"is_flight_intent\":true,\"version\":1,\"actions\":[{\"type\":\"land\",\"args\":{}}],\"summary\":\"降\"}'}"
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#
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# 若改了 ~input_topic：rosnode info <节点名> 查看订阅话题
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#
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# 环境变量（与 run_flight_bridge_with_mavros.sh 一致，未设置时给默认值）：
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# ROS_MASTER_URI 默认 http://127.0.0.1:11311
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# ROS_HOSTNAME 默认 127.0.0.1
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# 注意：这些只在「本脚本进程」里生效；另开终端调试 rostopic/rosservice 时须自行 source noetic 并 export 相同 URI，或与跑 roscore 的机器一致。
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set -euo pipefail
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ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
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cd "$ROOT"
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if [[ ! -f /opt/ros/noetic/setup.bash ]]; then
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echo "未找到 /opt/ros/noetic/setup.bash（当前桥仅支持 ROS1 Noetic）" >&2
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exit 2
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fi
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# shellcheck source=/dev/null
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source /opt/ros/noetic/setup.bash
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export ROS_MASTER_URI="${ROS_MASTER_URI:-http://127.0.0.1:11311}"
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export ROS_HOSTNAME="${ROS_HOSTNAME:-127.0.0.1}"
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export PYTHONPATH="${PYTHONPATH}:${ROOT}"
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exec python3 -m voice_drone.flight_bridge.ros1_node "$@"
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