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skylink_ros2_ws/build.sh

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+#!/bin/bash
+
+# SkyLink ROS 2 机载端 - 快速编译脚本
+# 用法: ./build.sh [release|debug]
+
+set -e
+
+SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
+BUILD_TYPE="${1:-release}"
+
+echo "========================================"
+echo "SkyLink ROS 2 编译脚本"
+echo "========================================"
+echo "工作目录: $SCRIPT_DIR"
+echo "编译类型: $BUILD_TYPE"
+echo ""
+
+# 检查 ROS 2 环境
+if [ -z "$ROS_DISTRO" ]; then
+    echo "❌ 错误：未检测到 ROS 2 环境"
+    echo "请先运行: source /opt/ros/humble/setup.bash"
+    exit 1
+fi
+
+echo "✓ ROS 2 发行版: $ROS_DISTRO"
+
+# 检查依赖
+echo ""
+echo "正在检查系统依赖..."
+if ! command -v colcon &> /dev/null; then
+    echo "❌ 错误：未找到 colcon，请安装："
+    echo "  sudo apt install -y python3-colcon-common"
+    exit 1
+fi
+
+echo "✓ colcon 已安装"
+
+# 清理旧编译（可选）
+if [ -d "$SCRIPT_DIR/build" ] && [ "$BUILD_TYPE" = "clean" ]; then
+    echo ""
+    echo "清理旧编译产物..."
+    rm -rf "$SCRIPT_DIR/build" "$SCRIPT_DIR/install" "$SCRIPT_DIR/log"
+    echo "✓ 清理完成"
+fi
+
+# 编译
+echo ""
+echo "正在编译 skylink_bridge 包..."
+echo ""
+
+if [ "$BUILD_TYPE" = "debug" ]; then
+    colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Debug
+else
+    colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
+fi
+
+echo ""
+echo "========================================"
+echo "✓ 编译成功！"
+echo "========================================"
+echo ""
+echo "下一步："
+echo "1. 加载 ROS 环境:"
+echo "   source $SCRIPT_DIR/install/setup.bash"
+echo ""
+echo "2. 启动节点:"
+echo "   ros2 launch skylink_bridge bridge.launch.py"
+echo ""