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update install script

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This commit is contained in:
Pierre Lecomte 2024-05-17 16:44:13 +02:00
parent 17447b81b4
commit dd3edee858
1 changed files with 16 additions and 7 deletions
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23
wx250s_custom/install.sh
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@ -7,17 +7,26 @@ DIR=${DIR:-~/interbotix_ws}
cp xs_common.py "$DIR/src/interbotix_ros_toolboxes/interbotix_xs_toolbox/interbotix_xs_modules/interbotix_xs_modules/xs_common/"
cp wx250s_custom.yaml "$DIR/src/interbotix_ros_manipulators/interbotix_ros_xsarms/interbotix_xsarm_control/config/"
cp modes.yaml "$DIR/src/interbotix_ros_manipulators/interbotix_ros_xsarms/interbotix_xsarm_control/config/"
cp -r wx250s_custom_meshes "$DIR/src/interbotix_ros_manipulators/interbotix_ros_xsarms/interbotix_xsarm_descriptions/meshes/"
VAR=`awk 'NR==451{ print; exit }' wx250s_custom.urdf.xacro`
VAR=`awk -F'"' '{print $2}' <<< $VAR`
read -p "Enter the coordinate between wrist_rotate joint and SMA center in m [default: ${VAR}]:" COORD
COORD=${COORD:-${VAR}}
cp wx250s_custom.urdf.xacro wx250s_custom.urdf.xacro~
sed -i "451s/$VAR/$COORD/" wx250s_custom.urdf.xacro~
RPY=`awk 'NR==494{ print; exit }' wx250s_custom.urdf.xacro`
RPY=`awk -F'"' '{print $2}' <<< $RPY`
read -p "Enter the Roll-Pitch-Yaw angles (in radians) between the wrist_rotate frame and SMA frame [default: ${RPY}]:" RPY2
RPY2=${RPY2:-${RPY}}
sed -i "494s/$RPY/$RPY2/" wx250s_custom.urdf.xacro~
XYZ=`awk 'NR==451{ print; exit }' wx250s_custom.urdf.xacro`
XYZ=`awk -F'"' '{print $2}' <<< $XYZ`
read -p "Enter the translation vector (in m) between wrist_rotate frame and SMA frame in [default: ${XYZ}]:" XYZ2
XYZ2=${XYZ2:-${XYZ}}
sed -i "451s/$XYZ/$XYZ2/" wx250s_custom.urdf.xacro~
# convert to urdf file needed for kinematic_from_description package
ros2 run xacro xacro wx250s_custom.urdf.xacro~ > out.urdf