update onekey.sh

onekey.sh

@@ -28,22 +28,6 @@ calibra_default="${filepath}/../.ros/camera_info"
 
 calibration="calibration"
 color_block="color_block"
-BASEPATH=$(cd `dirname $0`; pwd)
-TYPE_LIDAR=$(cat /opt/lidar.txt)
-echo ${TYPE_LIDAR}
-if [[ "${TYPE_LIDAR}" == "ydlidar_g6" ]]; then
-	LIDARTYPE="ydlidar_g6"
-	rm -f ${BASEPATH}/src/spark_driver/lidar/ydlidar_g6/CATKIN_IGNORE
-elif [[ "${TYPE_LIDAR}" == "ydlidar_g2" ]]; then
-	LIDARTYPE="ydlidar_g2"
-	touch ${BASEPATH}/src/spark_driver/lidar/ydlidar_g6/CATKIN_IGNORE
-elif [[ "${TYPE_LIDAR}" == "3iroboticslidar2" ]]; then
-	LIDARTYPE="3iroboticslidar2"
-	touch ${BASEPATH}/src/spark_driver/lidar/ydlidar_g6/CATKIN_IGNORE
-else
-	echo "暂不支持的雷达：${TYPE_LIDAR}，使用默认的杉川雷达运行"
-	LIDARTYPE="3iroboticslidar2"
-fi
 
 #检查系统要求
 check_sys(){
@@ -72,7 +56,23 @@ check_dev(){
 }
 #检查雷达设备
 check_lidar(){
+	BASEPATH=$(cd `dirname $0`; pwd)
+	TYPE_LIDAR=$(cat /opt/lidar.txt)
 
+	if [[ "${TYPE_LIDAR}" == "ydlidar_g6" ]]; then
+		LIDARTYPE="ydlidar_g6"
+		rm -f ${BASEPATH}/src/spark_driver/lidar/ydlidar_g6/CATKIN_IGNORE
+	elif [[ "${TYPE_LIDAR}" == "ydlidar_g2" ]]; then
+		LIDARTYPE="ydlidar_g2"
+		touch ${BASEPATH}/src/spark_driver/lidar/ydlidar_g6/CATKIN_IGNORE
+	elif [[ "${TYPE_LIDAR}" == "3iroboticslidar2" ]]; then
+		LIDARTYPE="3iroboticslidar2"
+		touch ${BASEPATH}/src/spark_driver/lidar/ydlidar_g6/CATKIN_IGNORE
+	else
+		echo "暂不支持的雷达：${TYPE_LIDAR}，使用默认的杉川雷达运行"
+		LIDARTYPE="3iroboticslidar2"
+		touch ${BASEPATH}/src/spark_driver/lidar/ydlidar_g6/CATKIN_IGNORE	
+	fi
 	lidar_flag=0
 
 	#检查使用哪种设备
@@ -80,8 +80,6 @@ check_lidar(){
 		lidar_flag=$[$lidar_flag + 1]
 	fi
 
-
-
 	if [ $lidar_flag -ge 2 ]; then
 		echo -e "${Warn} 正在使用多个雷达设备，请退出并拔掉其中一个再使用!"
 		echo -e "${Warn} 退出请输入：Ctrl + c！"
@@ -1011,7 +1009,6 @@ qrcode_picture
 
 echo -e "  
   请根据右侧的功能说明选择相应的序号。
-  注意：101～103为相关环境的安装与设置，如果已执行过，不要再重复执行。
   
   ${Green_font_prefix}  0.${Font_color_suffix} 单独编译SPARK
 ————————————