| # 在 rm65_dev2 容器内加载 ROS2 + rm65 工作空间环境 | |
| # 用法: source scripts/docker_ros_env.sh | |
| CONTAINER="${RM65_CONTAINER:-rm65_dev2}" | |
| ROS_SETUP="/opt/ros/humble/setup.bash" | |
| WS_SETUP="/home/sdznkj/zkx_ws/ros2_ws/install/setup.bash" | |
| if ! docker ps --format '{{.Names}}' | grep -qx "${CONTAINER}"; then | |
| echo "容器 ${CONTAINER} 未运行。请先: docker start ${CONTAINER}" >&2 | |
| return 1 2>/dev/null || exit 1 | |
| fi | |
| # 在宿主机上封装 docker exec，后续命令都在容器内执行 | |
| docker_exec() { | |
| docker exec -it "${CONTAINER}" bash -lc " | |
| source ${ROS_SETUP} | |
| source ${WS_SETUP} | |
| $* | |
| " | |
| } | |
| # 供 source 后直接启动交互 shell | |
| docker_shell() { | |
| docker exec -it "${CONTAINER}" bash -lc " | |
| source ${ROS_SETUP} | |
| source ${WS_SETUP} | |
| exec bash | |
| " | |
| } | |
| echo "已配置 docker_exec / docker_shell（容器: ${CONTAINER}）" | |
| echo "示例: docker_exec 'ros2 launch rm_bringup rm_65_bringup.launch.py'" | |