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