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docs/NX_code工作树.md
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# NX Code 工作树备份说明
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备份日期：2026-07-21
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本目录是从 Go2/NX 机器 `unitree@10.26.68.26` 迁移到 Pusai 的关键代码与运行资产备份。
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## 目录来源
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| 本地目录 | NX 原始路径 | 用途 |
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| --- | --- | --- |
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| `dimos/` | `/home/unitree/projects/dimos` | NX bridge 启动脚本、DDS 配置、相机/map/控制 relay、已导出的 Docker 镜像 tar |
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| `ros2projects/` | `/home/unitree/ros2projects` | ROS2 工作区，包含 Go2 控制驱动等核心依赖 |
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| `cyclonedds_ws/` | `/home/unitree/cyclonedds_ws` | CycloneDDS 配置和编译环境 |
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| `go2/` | `/home/unitree/projects/go2` | Go2 相关代码与资料 |
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| `nav2go2/` | `/home/unitree/projects/nav2go2` | Nav2、建图、定位相关工作区 |
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| `tmp/` | `/home/unitree/tmp` | Livox clean workspace 等临时但实际使用过的资产 |
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| `vln/` | `/home/unitree/projects/vln` | VLN/InternNav 相关代码 |
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| `Embodied-Robot-Project/` | `/home/unitree/projects/Embodied-Robot-Project` | 早期 Go2/VLN 桥接与实验代码备份 |
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## 压缩包位置
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压缩包统一放在：
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```bash
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/home/wkr/Workspaces/workspace_peiwei/projects/VLN/NX_code_archives_20260721
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```
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当前压缩包：
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```text
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NX_code_Embodied-Robot-Project_20260721.zip
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NX_code_cyclonedds_ws_20260721.zip
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NX_code_dimos_20260721.zip
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NX_code_go2_20260721.zip
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NX_code_nav2go2_20260721.zip
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NX_code_ros2projects_20260721.zip
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NX_code_tmp_20260721.zip
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NX_code_vln_20260721.zip
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SHA256SUMS.txt
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```
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## 校验
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迁移或拷贝到新机器后，在压缩包目录执行：
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```bash
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sha256sum -c SHA256SUMS.txt
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```
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全部显示 `OK` 才表示压缩包未损坏。
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## 解压恢复
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推荐恢复到新机器的工作目录，例如：
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```bash
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mkdir -p ~/NX_code_restore
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cd ~/NX_code_restore
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unzip /path/to/NX_code_dimos_20260721.zip
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unzip /path/to/NX_code_ros2projects_20260721.zip
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unzip /path/to/NX_code_cyclonedds_ws_20260721.zip
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```
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如需恢复全部目录：
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```bash
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cd ~/NX_code_restore
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for f in /path/to/NX_code_*_20260721.zip; do
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unzip "$f"
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done
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```
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## Docker 镜像
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镜像 tar 在两处都有：
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```text
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/home/wkr/Workspaces/workspace_peiwei/projects/VLN/vln_ros2_foxy_dev_20260721_compressed_camera.tar
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/home/wkr/Workspaces/workspace_peiwei/projects/VLN/NX_code/dimos/vln_ros2_foxy_dev_20260721_compressed_camera.tar
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```
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导入命令：
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```bash
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sudo docker load -i vln_ros2_foxy_dev_20260721_compressed_camera.tar
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```
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## 未打包目录
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以下 NX 目录本轮没有打包：
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| NX 路径 | 原因 |
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| --- | --- |
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| `/home/unitree/projects/dockerfiles` | 约 27G，主要是 Docker 构建上下文，体积较大；如需完整复现镜像构建过程再单独备份 |
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| `/home/unitree/projects/nav2go2_back` | 约 1.4M，旧备份，当前已有主 `nav2go2/` |
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| `/home/unitree/projects/nav2go2（复件）` | 与 `nav2go2/` 重复，未额外备份 |
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| `/home/unitree/realsense_ws`、`ros1projects`、`ros2_ws`、`unitree_sdk2_official_test` | 暂未确认属于当前 DimOS-Go2-NX 主链 |
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