| #!/usr/bin/env bash |
| set -euo pipefail |
|
|
| H2_ROOT=${H2_ROOT:-$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")/.." && pwd)} |
| H2_IF=${H2_IF:-enp4s0f0} |
| H2_PY=${H2_PY:-python3} |
| cd "$H2_ROOT" |
|
|
| set +u |
| |
| source scripts/source_unitree_env.sh "$H2_IF" |
| |
| source install/setup.bash |
| set -u |
| export ROS2CLI_NO_DAEMON=1 |
|
|
| echo "[1/4] H2BR HEALTHY + DISARMED" |
| "$H2_PY" scripts/inspect_shm_state.py --once \ |
| --require-healthy --require-disarmed --expected-interface "$H2_IF" |
|
|
| echo "[2/4] BRIDGE LOWSTATE UPDATE RATE" |
| "$H2_PY" - <<'PY' |
| import fcntl |
| import time |
| from runtime.h2_shm_bridge import H2SharedMemoryBridge |
|
|
| bridge = H2SharedMemoryBridge() |
| try: |
| with bridge._file_lock(fcntl.LOCK_SH): |
| first = int(bridge._mem.state_seq) |
| start = time.monotonic() |
| time.sleep(3.0) |
| elapsed = time.monotonic() - start |
| with bridge._file_lock(fcntl.LOCK_SH): |
| last = int(bridge._mem.state_seq) |
| finally: |
| bridge.close() |
| updates = (last - first) / 2.0 |
| rate = updates / elapsed |
| print(f"state_updates={updates:.0f} elapsed_s={elapsed:.6f} update_rate_hz={rate:.1f}") |
| if not 900.0 <= rate <= 1150.0: |
| raise SystemExit(f"[FAIL] bridge LowState update rate {rate:.1f} Hz outside [900,1150]") |
| print("[PASS] bridge receives approximately 1000 LowState updates/s") |
| PY |
|
|
| echo "[3/4] UNIQUE ROS LOWCMD ENDPOINT" |
| LOWCMD_INFO=$(mktemp) |
| trap 'rm -f "$LOWCMD_INFO"' EXIT |
| ros2 topic info /lowcmd --verbose --no-daemon --spin-time 5 >"$LOWCMD_INFO" |
| cat "$LOWCMD_INFO" |
| grep -Eq '^Publisher count: +1$' "$LOWCMD_INFO" |
| grep -Fq 'h2_lowcmd_shm_bridge' "$LOWCMD_INFO" |
|
|
| echo "[4/4] NO LOWCMD SAMPLE WITHOUT RUNNER" |
| set +e |
| timeout 3s ros2 topic echo /lowcmd unitree_hg/msg/LowCmd \ |
| --once --no-daemon --spin-time 2 >/tmp/h2_no_runner_lowcmd_echo.txt 2>&1 |
| LOWCMD_ECHO_RC=$? |
| set -e |
| cat /tmp/h2_no_runner_lowcmd_echo.txt |
| test "$LOWCMD_ECHO_RC" -eq 124 |
|
|
| echo "[PASS] default 1000Hz bridge is healthy/disarmed and publishes no command without runner" |
|
|
