| #!/usr/bin/env bash |
| |
| |
|
|
| if [[ "${BASH_SOURCE[0]}" == "$0" ]]; then |
| echo "Use: source scripts/source_unitree_env.sh <robot-network-interface>" >&2 |
| exit 2 |
| fi |
|
|
| _h2_interface="${1:-}" |
| if [[ -z "${_h2_interface}" ]]; then |
| echo "Missing robot network interface." >&2 |
| echo "Use: source scripts/source_unitree_env.sh enp4s0f0" >&2 |
| return 2 |
| fi |
| if [[ ! -d "/sys/class/net/${_h2_interface}" ]]; then |
| echo "Network interface does not exist: ${_h2_interface}" >&2 |
| return 2 |
| fi |
| if [[ "$(cat "/sys/class/net/${_h2_interface}/operstate")" != "up" ]]; then |
| echo "Network interface is not up: ${_h2_interface}" >&2 |
| return 2 |
| fi |
|
|
| _h2_unitree_setup="${UNITREE_ROS2_ROOT:-$HOME/unitree_ros2}/install/setup.bash" |
| if [[ ! -f "$_h2_unitree_setup" ]]; then |
| echo "Missing Unitree ROS 2 setup: $_h2_unitree_setup; set UNITREE_ROS2_ROOT to your built workspace." >&2 |
| return 2 |
| fi |
| source /opt/ros/humble/setup.bash || return $? |
| source "$_h2_unitree_setup" || return $? |
| export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp |
| export ROS_DOMAIN_ID=0 |
| export ROS_LOCALHOST_ONLY=0 |
| export CYCLONEDDS_URI="<CycloneDDS><Domain><General><Interfaces><NetworkInterface name='${_h2_interface}' priority='default' multicast='default'/></Interfaces></General></Domain></CycloneDDS>" |
| unset _h2_interface _h2_unitree_setup |
| echo "H2 Unitree ROS 2 environment loaded (CycloneDDS interface: $1)." |
|
|
