51 lines
1.7 KiB
Bash
Executable File
51 lines
1.7 KiB
Bash
Executable File
#!/bin/bash
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# Tweak the default interbotix_ws install to add a customized robot wx250s_custom
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read -p "Enter the interbotix packages installation path [default: ~/interbotix_ws]:" DIR
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DIR=${DIR:-~/interbotix_ws}
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cp xs_common.py "$DIR/src/interbotix_ros_toolboxes/interbotix_xs_toolbox/interbotix_xs_modules/interbotix_xs_modules/xs_common/"
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cp wx250s_custom.yaml "$DIR/src/interbotix_ros_manipulators/interbotix_ros_xsarms/interbotix_xsarm_control/config/"
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cp -r wx250s_custom_meshes "$DIR/src/interbotix_ros_manipulators/interbotix_ros_xsarms/interbotix_xsarm_descriptions/meshes/"
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VAR=`awk 'NR==451{ print; exit }' wx250s_custom.urdf.xacro`
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VAR=`awk -F'"' '{print $2}' <<< $VAR`
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read -p "Enter the coordinate between wrist_rotate joint and SMA center in m [default: ${VAR}]:" COORD
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COORD=${COORD:-${VAR}}
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cp wx250s_custom.urdf.xacro wx250s_custom.urdf.xacro~
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sed -i "451s/$VAR/$COORD/" wx250s_custom.urdf.xacro~
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# convert to urdf file needed for kinematic_from_description package
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ros2 run xacro xacro wx250s_custom.urdf.xacro~ > out.urdf
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# move the urdf.xacro file
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mv wx250s_custom.urdf.xacro~ "$DIR/src/interbotix_ros_manipulators/interbotix_ros_xsarms/interbotix_xsarm_descriptions/urdf/wx250s_custom.urdf.xacro"
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#
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git clone https://github.com/Interbotix/kinematics_from_description.git
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cd kinematics_from_description
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python setup.py install --user
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cd ..
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rm -rf kinematics_from_description
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cp mr_descriptions.py mr_descriptions.py~
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python kinematics.py
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mv mr_descriptions.py "$DIR/src/interbotix_ros_toolboxes/interbotix_xs_toolbox/interbotix_xs_modules/interbotix_xs_modules/xs_robot/"
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mv mr_descriptions.py~ mr_descriptions.py
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rm out.urdf
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cd $DIR
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rm -rf build
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rm -rf install
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colcon build
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