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update onekey.sh

This commit is contained in:
litian.zhuang 2022-03-10 19:13:06 +08:00
parent b1faf25fa2
commit 238025c793
2 changed files with 16 additions and 19 deletions
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35
onekey.sh
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@ -28,22 +28,6 @@ calibra_default="${filepath}/../.ros/camera_info"
calibration="calibration" calibration="calibration"
color_block="color_block" color_block="color_block"
BASEPATH=$(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 #检查系统要求
check_sys(){ check_sys(){
@ -72,7 +56,23 @@ check_dev(){
} }
#检查雷达设备 #检查雷达设备
check_lidar(){ 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 ${BASEPATH}/src/spark_driver/lidar/ydlidar_g6/CATKIN_IGNORE
fi
lidar_flag=0 lidar_flag=0
#检查使用哪种设备 #检查使用哪种设备
@ -80,8 +80,6 @@ check_lidar(){
lidar_flag=$[$lidar_flag + 1] lidar_flag=$[$lidar_flag + 1]
fi fi
if [ $lidar_flag -ge 2 ]; then 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 "${Warn} 正在使用多个雷达设备，请退出并拔掉其中一个再使用!"
echo -e "${Warn} 退出请输入：Ctrl + c！" echo -e "${Warn} 退出请输入：Ctrl + c！"
@ -1011,7 +1009,6 @@ qrcode_picture
echo -e " echo -e "
请根据右侧的功能说明选择相应的序号。 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 ${Green_font_prefix} 0.${Font_color_suffix} 单独编译SPARK
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0
src/spark_driver/lidar/ydlidar_g6/CATKIN_IGNORE
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