Initial import of FaRui Campus ADS v3.2

master/mapping.sh

@@ -0,0 +1,145 @@
+#!/bin/bash
+# ECar Mapping Script - 在线建图启动脚本
+# 使用方法: ./mapping.sh [选项]
+
+set -e  # 遇到错误立即退出
+
+# ============ 配置 ============
+WORKSPACE_DIR="/home/nvidia/FaRui/v3.1"
+MAP_SAVE_PATH="${WORKSPACE_DIR}/maps/$(date +%Y%m%d_%H%M%S)"
+SLAM_METHOD="liorf"  # 可选: fast_lio2 或 liorf
+RECORD_BAG="false"
+LAUNCH_RVIZ="true"
+
+# ============ 帮助信息 ============
+function show_help() {
+    echo "ECar Mapping Script - 在线建图启动脚本"
+    echo ""
+    echo "用法: $0 [选项]"
+    echo ""
+    echo "选项:"
+    echo "  -h, --help              显示帮助信息"
+    echo "  -m, --method METHOD     选择SLAM算法: fast_lio2 或 liorf (默认: ${SLAM_METHOD})"
+    echo "  -s, --save PATH         地图保存路径 (默认: ${MAP_SAVE_PATH})"
+    echo "  -r, --record            录制rosbag备份"
+    echo "  --no-rviz               不启动RViz"
+    echo "  -b, --bag-path PATH     指定rosbag录制路径"
+    echo ""
+    echo "示例:"
+    echo "  $0                      # 默认使用liorf建图"
+    echo "  $0 -m fast_lio2         # 使用FAST_LIO2建图"
+    echo "  $0 -r -s /home/nvidia/my_maps   # 建图并录制bag到指定目录"
+    echo "  $0 --no-rviz            # 建图但不启动RViz"
+    exit 0
+}
+
+# ============ 解析参数 ============
+while [[ $# -gt 0 ]]; do
+    case $1 in
+        -h|--help)
+            show_help
+            ;;
+        -m|--method)
+            SLAM_METHOD="$2"
+            shift 2
+            ;;
+        -s|--save)
+            MAP_SAVE_PATH="$2"
+            shift 2
+            ;;
+        -r|--record)
+            RECORD_BAG="true"
+            shift
+            ;;
+        --no-rviz)
+            LAUNCH_RVIZ="false"
+            shift
+            ;;
+        -b|--bag-path)
+            BAG_SAVE_PATH="$2"
+            shift 2
+            ;;
+        *)
+            echo "未知参数: $1"
+            show_help
+            ;;
+    esac
+done
+
+# ============ 验证参数 ============
+if [[ "${SLAM_METHOD}" != "fast_lio2" && "${SLAM_METHOD}" != "liorf" ]]; then
+    echo "错误: 不支持的SLAM算法 '${SLAM_METHOD}'"
+    echo "支持的算法: fast_lio2, liorf"
+    exit 1
+fi
+
+# 创建地图保存目录
+mkdir -p "${MAP_SAVE_PATH}"
+echo "地图将保存到: ${MAP_SAVE_PATH}"
+
+# ============ 环境设置 ============
+echo "================================"
+echo "  ECar 在线建图启动"
+echo "================================"
+echo "工作目录: ${WORKSPACE_DIR}"
+echo "SLAM算法: ${SLAM_METHOD}"
+echo "RViz: ${LAUNCH_RVIZ}"
+echo "录制bag: ${RECORD_BAG}"
+echo "================================"
+
+# 切换到工作目录
+cd "${WORKSPACE_DIR}"
+
+# 加载ROS环境
+echo "[1/3] 加载ROS2环境..."
+if [ -f "install/setup.bash" ]; then
+    source install/setup.bash
+    echo "    已加载本地工作空间"
+else
+    echo "    警告: 未找到本地工作空间,使用系统ROS2"
+    source /opt/ros/humble/setup.bash
+fi
+
+# 检查必要的包是否存在
+echo "[2/3] 检查必要组件..."
+REQUIRED_PKGS=("farui_launch" "timoo_ros2_driver" "wheeltec_gps_driver" "hipnuc_imu")
+for pkg in "${REQUIRED_PKGS[@]}"; do
+    if ros2 pkg list | grep -q "^${pkg}$"; then
+        echo "    ✓ ${pkg}"
+    else
+        echo "    ✗ ${pkg} 未找到!"
+        exit 1
+    fi
+done
+
+# 启动建图
+echo "[3/3] 启动建图节点..."
+echo ""
+
+# 构建启动参数
+LAUNCH_ARGS=""
+LAUNCH_ARGS+=" slam_method:=${SLAM_METHOD}"
+LAUNCH_ARGS+=" map_save_path:=${MAP_SAVE_PATH}"
+LAUNCH_ARGS+=" record_bag:=${RECORD_BAG}"
+LAUNCH_ARGS+=" rviz:=${LAUNCH_RVIZ}"
+
+if [ -n "${BAG_SAVE_PATH}" ]; then
+    LAUNCH_ARGS+=" map_save_path:=${BAG_SAVE_PATH}"
+fi
+
+echo "启动参数: ${LAUNCH_ARGS}"
+echo ""
+
+# 启动 launch 文件
+ros2 launch farui_launch ecar_mapping.launch.xml ${LAUNCH_ARGS}
+
+# 建图结束后提示
+echo ""
+echo "================================"
+echo "  建图已结束"
+echo "================================"
+if [ -d "${MAP_SAVE_PATH}" ]; then
+    echo "地图保存位置: ${MAP_SAVE_PATH}"
+    ls -lh "${MAP_SAVE_PATH}" 2>/dev/null || true
+fi
+echo "================================"