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cookoo + deb

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lyq 2025-09-28 16:36:32 +08:00
parent 0c3d106fb5
commit 1823070402
3 changed files with 8 additions and 19 deletions
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11
README.md
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@ -152,14 +152,3 @@ sudo dpkg -r controller
* **Topic**：`/rtk_message` * **Topic**：`/rtk_message`
## 4. 版本历史
| 版本 | 更新日期 | 更新内容 | 开发者 |
| ---- | -------- | ------------------------------------------------------------ | ------------------ |
| V1.0 | 2025-09-17 | 初始版本，定义`McCtrl.msg`和`Rtk.msg`结构，明确 Topic | \[zxwl] |
| V1.1 | 2025-09-22 | controller.deb的安装、启动与卸载 | \[zxwl] |
| V1.2 | 2025-09-23 | 增加日志管理 | \[zxwl] |

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controller_202509281626_arm64.deb Normal file
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16
make_deb.sh
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@ -5,7 +5,7 @@ PKG_NAME="controller"
PKG_VERSION="$(date +%Y%m%d%H%M)" PKG_VERSION="$(date +%Y%m%d%H%M)"
ARCH="arm64" ARCH="arm64"
MAINTAINER="LYQ<liyq@ntiov.com>" MAINTAINER="LYQ<liyq@ntiov.com>"
DESCRIPTION="Binary package of remote controller nodes for robot (ROS2 Humble)." DESCRIPTION="Binary package of remote controller nodes for robot (ROS2 foxy)."
INSTALL_DIR="/opt/${PKG_NAME}" INSTALL_DIR="/opt/${PKG_NAME}"
WORKDIR="$(pwd)/deb_build" WORKDIR="$(pwd)/deb_build"
INSTALL_SRC="$(pwd)/install" INSTALL_SRC="$(pwd)/install"
@ -27,7 +27,7 @@ Priority: optional
Architecture: ${ARCH} Architecture: ${ARCH}
Essential: no Essential: no
Maintainer: ${MAINTAINER} Maintainer: ${MAINTAINER}
Depends: ros-humble-ros-base, libc6 (>= 2.34), logrotate Depends: ros-foxy-ros-base, logrotate
Description: ${DESCRIPTION} Description: ${DESCRIPTION}
EOF EOF
@ -67,14 +67,14 @@ EOF
chmod +x "${WORKDIR}/${INSTALL_DIR}/can.sh" chmod +x "${WORKDIR}/${INSTALL_DIR}/can.sh"
# ============================ # ============================
# 创建 start_all.sh (nvidia 用户执行) # 创建 start_all.sh (aiec 用户执行)
# ============================ # ============================
cat > "${WORKDIR}/${INSTALL_DIR}/start_all.sh" <<EOF cat > "${WORKDIR}/${INSTALL_DIR}/start_all.sh" <<EOF
#!/bin/bash #!/bin/bash
set -e set -e
# 加载 ROS2 系统环境 # 加载 ROS2 系统环境
source /opt/ros/humble/setup.bash source /opt/ros/foxy/setup.bash
# 加载打包的工作空间环境 # 加载打包的工作空间环境
source ${INSTALL_DIR}/local_setup.bash source ${INSTALL_DIR}/local_setup.bash
@ -112,7 +112,7 @@ User=root
WantedBy=multi-user.target WantedBy=multi-user.target
EOF EOF
# ROS2 节点服务 (nvidia 用户执行，日志写文件) # ROS2 节点服务 (aiec 用户执行，日志写文件)
cat > "${WORKDIR}/etc/systemd/system/${PKG_NAME}.service" <<EOF cat > "${WORKDIR}/etc/systemd/system/${PKG_NAME}.service" <<EOF
[Unit] [Unit]
Description=Remote Controller Nodes Description=Remote Controller Nodes
@ -121,8 +121,8 @@ Requires=${PKG_NAME}-can.service
[Service] [Service]
Type=simple Type=simple
User=nvidia User=aiec
Environment="ROS_DISTRO=humble" Environment="ROS_DISTRO=foxy"
ExecStart=${INSTALL_DIR}/start_all.sh ExecStart=${INSTALL_DIR}/start_all.sh
Restart=on-failure Restart=on-failure
RestartSec=2 RestartSec=2
@ -159,7 +159,7 @@ set -e
# 创建日志目录 # 创建日志目录
mkdir -p /var/log/${PKG_NAME} mkdir -p /var/log/${PKG_NAME}
chown nvidia:nvidia /var/log/${PKG_NAME} chown aiec:aiec /var/log/${PKG_NAME}
systemctl daemon-reload systemctl daemon-reload
systemctl enable ${PKG_NAME}-can.service systemctl enable ${PKG_NAME}-can.service