hand-eye_calibration/docker/commands.sh at humble · hhanoo/hand-eye_calibration · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
# ===== ROS env =====
[ -f /opt/ros/humble/setup.bash ]      && source /opt/ros/humble/setup.bash
[ -f /ros2_ws/install/setup.bash ]     && source /ros2_ws/install/setup.bash
[ -f /ros2_ws/docker/config.sh ]       && source /ros2_ws/docker/config.sh

# ===== Common helpers =====
source-ros-ws() {
    [ -f /ros2_ws/install/setup.bash ] && source /ros2_ws/install/setup.bash
}

source-config() {
    [ -f /ros2_ws/docker/config.sh ] && source /ros2_ws/docker/config.sh
}

# ===== Build =====
build() {
    cd /ros2_ws || return 1
    colcon build \
        --symlink-install \
        --event-handlers console_direct+ \
        --cmake-args -DCMAKE_BUILD_TYPE=Release "$@"
    source-ros-ws
    source-config
}

# ===== Camera launchers =====
camera-realsense() {
    source-ros-ws
    ros2 launch realsense2_camera rs_launch.py \
        depth_module.depth_profile:=1280x720x30 \
        rgb_camera.color_profile:=1280x720x30 \
        align_depth.enable:=true \
        "$@"
}

camera-orbbec() {
    source-ros-ws
    source-config
    ros2 launch orbbec_camera "${ORBBEC_MODEL:-femto_bolt}.launch.py" \
        color_width:="${ORBBEC_COLOR_WIDTH:-1280}" \
        color_height:="${ORBBEC_COLOR_HEIGHT:-720}" \
        color_fps:="${ORBBEC_COLOR_FPS:-30}" \
        "$@"
}

# ===== GUI launchers =====
gui-realsense() {
    source-ros-ws
    ros2 run hand_eye_calibration gui_node "$@"
}

gui-orbbec() {
    source-ros-ws
    ros2 run hand_eye_calibration gui_node --ros-args \
        -p image_topic:=/camera/color/image_raw \
        -p camera_info_topic:=/camera/color/camera_info \
        "$@"
}

# ===== Robot launchers =====
doosan() {
    source-ros-ws
    ros2 launch dsr_pose_reader dsr_pose_reader.launch.py "$@"
}

# ===== Help =====
cmd-help() {
    printf "\n[hand_eye_calibration] Commands:\n\n"

    printf "  Build:\n"
    printf "    %-18s - %s\n" "build"             "colcon build (Release) + source overlay"
    printf "\n"

    printf "  Camera launchers:\n"
    printf "    %-18s - %s\n" "camera-realsense"  "Intel RealSense (D415 / D435)"
    printf "    %-18s - %s\n" "camera-orbbec"     "Orbbec camera             [ORBBEC_MODEL, ORBBEC_COLOR_*]"
    printf "\n"

    printf "  GUI launchers:\n"
    printf "    %-18s - %s\n" "gui-realsense"     "Hand-eye calibration GUI (RealSense topics)"
    printf "    %-18s - %s\n" "gui-orbbec"        "Hand-eye calibration GUI (Orbbec topics)"
    printf "\n"

    printf "  Robot launchers:\n"
    printf "    %-18s - %s\n" "doosan"            "Doosan pose reader (dsr_pose_reader)"
    printf "\n"

    printf "  Config / Help:\n"
    printf "    %-18s - %s\n" "source-config"     "Reload /ros2_ws/docker/config.sh"
    printf "    %-18s - %s\n" "cmd-help"          "Show this help"
    printf "\n"

    printf "  Current config (from /ros2_ws/docker/config.sh):\n"
    printf "    ORBBEC_MODEL=%s\n"        "${ORBBEC_MODEL}"
    printf "    ORBBEC_COLOR_WIDTH=%s\n"  "${ORBBEC_COLOR_WIDTH}"
    printf "    ORBBEC_COLOR_HEIGHT=%s\n" "${ORBBEC_COLOR_HEIGHT}"
    printf "    ORBBEC_COLOR_FPS=%s\n"    "${ORBBEC_COLOR_FPS}"
    echo
}

# ===== Show help on interactive shell =====
case $- in
    *i*) cmd-help ;;
esac