Initial import of FaRui Campus ADS v3.2
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li-shihao-code
Executable
+170
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#!/usr/bin/env bash
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# Start only the master Orin Autoware launch for debugging, without preset-route UI.
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#
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# 用法:
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# ./run_ecar_master_debug.sh [地图目录] [是否启动RViz] [车型]
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#
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# 位置参数都可以省略:
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# 地图目录: $ECAR_MASTER_MAP_PATH
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# 默认 /home/nvidia/FaRui-test/map/School06
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# RViz: $ECAR_MASTER_RVIZ
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# 默认 true，可选 true | false
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# 车型: $ECAR_MASTER_VEHICLE_MODEL
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# 默认 ecar_vehicle
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#
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# 常用示例:
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# 启动主板 Autoware，并打开 RViz:
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# ./run_ecar_master_debug.sh
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#
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# 启动主板 Autoware，但关闭 RViz:
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# ./run_ecar_master_debug.sh /home/nvidia/FaRui-test/map/School06 false
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#
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# 用环境变量指定地图:
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# ECAR_MASTER_MAP_PATH=/home/nvidia/FaRui-test/map/School06 ./run_ecar_master_debug.sh
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#
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# 双 Orin 说明:
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# 本脚本只启动 src/Launcher/farui_launch/launch/ecar_master.launch.xml。
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# 不启动 UI、预设路线工具、vehicle、control、system。
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# 从板仍需单独启动 ecar_slave.launch.xml，负责底盘驱动、控制和 system 反馈。
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set -euo pipefail
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GREEN='\033[0;32m'
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YELLOW='\033[1;33m'
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RED='\033[0;31m'
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NC='\033[0m'
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log_info() { echo -e "${GREEN}[INFO]${NC} $*"; }
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log_warn() { echo -e "${YELLOW}[WARN]${NC} $*"; }
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log_error() { echo -e "${RED}[ERROR]${NC} $*" >&2; }
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script_dir="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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find_workspace_root() {
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if [[ -n "${ECAR_MASTER_WORKSPACE_ROOT:-}" ]]; then
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echo "${ECAR_MASTER_WORKSPACE_ROOT}"
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return
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fi
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local candidates=(
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"${script_dir}"
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"${PWD}"
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)
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for candidate in "${candidates[@]}"; do
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if [[ -f "${candidate}/install/setup.bash" ]]; then
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(cd "${candidate}" && pwd)
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return
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fi
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done
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echo "${script_dir}"
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}
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WORKSPACE_ROOT="$(find_workspace_root)"
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#DEFAULT_MAP_PATH="/home/nvidia/FaRui-test/map/School06" parker01
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DEFAULT_MAP_PATH="/home/nvidia/FaRui-test/map/School06"
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DEFAULT_VEHICLE_MODEL="ecar_vehicle"
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DEFAULT_LAUNCH_FILE="${WORKSPACE_ROOT}/src/Launcher/farui_launch/launch/ecar_master.launch.xml"
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DEFAULT_OPERATION_MODE_FALLBACK_SCRIPT="${WORKSPACE_ROOT}/debug/operation_mode_state_fallback.py"
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MAP_PATH="${1:-${ECAR_MASTER_MAP_PATH:-${DEFAULT_MAP_PATH}}}"
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RVIZ="${2:-${ECAR_MASTER_RVIZ:-true}}"
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VEHICLE_MODEL="${3:-${ECAR_MASTER_VEHICLE_MODEL:-${DEFAULT_VEHICLE_MODEL}}}"
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LAUNCH_FILE="${ECAR_MASTER_LAUNCH_FILE:-${DEFAULT_LAUNCH_FILE}}"
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OPERATION_MODE_FALLBACK="${ECAR_MASTER_OPERATION_MODE_FALLBACK:-false}"
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OPERATION_MODE_FALLBACK_SCRIPT="${ECAR_MASTER_OPERATION_MODE_FALLBACK_SCRIPT:-${DEFAULT_OPERATION_MODE_FALLBACK_SCRIPT}}"
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case "${RVIZ}" in
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true|false)
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;;
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*)
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log_error "RViz must be true or false, got: ${RVIZ}"
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exit 1
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;;
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esac
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case "${OPERATION_MODE_FALLBACK}" in
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true|false)
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;;
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*)
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log_error "ECAR_MASTER_OPERATION_MODE_FALLBACK must be true or false, got: ${OPERATION_MODE_FALLBACK}"
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exit 1
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;;
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esac
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if [[ ! -f "${WORKSPACE_ROOT}/install/setup.bash" ]]; then
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log_error "Workspace setup file not found: ${WORKSPACE_ROOT}/install/setup.bash"
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exit 1
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fi
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if [[ ! -f "${LAUNCH_FILE}" ]]; then
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log_error "Master launch file not found: ${LAUNCH_FILE}"
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exit 1
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fi
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if [[ ! -d "${MAP_PATH}" ]]; then
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log_error "Map path not found: ${MAP_PATH}"
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exit 1
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fi
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if [[ "${OPERATION_MODE_FALLBACK}" == "true" && ! -f "${OPERATION_MODE_FALLBACK_SCRIPT}" ]]; then
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log_error "Operation mode fallback script not found: ${OPERATION_MODE_FALLBACK_SCRIPT}"
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exit 1
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fi
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log_info "Workspace: ${WORKSPACE_ROOT}"
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log_info "Master launch: ${LAUNCH_FILE}"
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log_info "Map path: ${MAP_PATH}"
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log_info "Vehicle model: ${VEHICLE_MODEL}"
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log_info "RViz: ${RVIZ}"
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log_info "Operation mode fallback: ${OPERATION_MODE_FALLBACK}"
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log_info "Starting master Autoware without UI."
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cd "${WORKSPACE_ROOT}"
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set +u
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source install/setup.bash
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set -u
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log_ros_pkg_prefix() {
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local package="$1"
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local prefix
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if prefix="$(ros2 pkg prefix "${package}" 2>/dev/null)"; then
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log_info "ROS package ${package}: ${prefix}"
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else
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log_warn "ROS package ${package} not found in the sourced environment."
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fi
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}
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log_ros_pkg_prefix "farui_launch"
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log_ros_pkg_prefix "autoware_behavior_path_planner"
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log_ros_pkg_prefix "glog_component"
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OPERATION_MODE_FALLBACK_PID=""
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cleanup() {
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local status=$?
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trap - EXIT INT TERM
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if [[ -n "${OPERATION_MODE_FALLBACK_PID}" ]]; then
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kill "${OPERATION_MODE_FALLBACK_PID}" 2>/dev/null || true
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wait "${OPERATION_MODE_FALLBACK_PID}" 2>/dev/null || true
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fi
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exit "${status}"
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}
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trap cleanup EXIT INT TERM
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if [[ "${OPERATION_MODE_FALLBACK}" == "true" ]]; then
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log_info "Starting planning operation mode fallback."
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python3 "${OPERATION_MODE_FALLBACK_SCRIPT}" &
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OPERATION_MODE_FALLBACK_PID=$!
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fi
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ros2 launch "${LAUNCH_FILE}" \
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map_path:="${MAP_PATH}" \
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vehicle_model:="${VEHICLE_MODEL}" \
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launch_planning:=true \
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launch_system:=false \
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launch_vehicle:=false \
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launch_control:=false \
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launch_api:=true \
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use_sim_time:=false \
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rviz:="${RVIZ}" \
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rviz_respawn:=false
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