update : make_deb.sh
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Alvin-lyq
parent
1a10e5649f
commit
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3
.gitignore
vendored
3
.gitignore
vendored
@ -2,5 +2,4 @@ build
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install
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log
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.vscode
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deb_build
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*.deb
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deb_build
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10
README.md
10
README.md
@ -81,12 +81,12 @@ sudo dpkg -r controller
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| 字段类型 | 字段名称 | 取值范围 / 说明 | 功能描述 |
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| -------- | ------------------------------- | ----------------------------------------------- | ------------------------------------------------------------ |
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| uint8 | brake | 0（开）、1（关） | 电磁刹控制：0 表示解除电磁刹，1 表示激活电磁刹 |
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| uint8 | brake | 0（不刹）、1（刹） | 电磁刹控制：0 表示解除电磁刹，1 表示激活电磁刹 |
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| uint8 | gear | 0（空挡）、1（后退）、2（前进）、3（保留） | 车辆挡位控制，3 为预留挡位暂未使用 |
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| uint8 | rpm | 0-6000 | 电机转速指令，数值直接对应实际电机转速（rpm） |
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| float32 | angle | \[-66.0, 66.0]（分辨率 0.2°，建议适当缩减范围） | 轮端转向角度控制，单位为度（°） |
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| uint8 | rpm | 0-4000 | 电机转速指令，数值直接对应实际电机转速（rpm） |
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| float32 | angle | \[-40.0, 40.0] | 轮端转向角度控制，单位为度（°），[-左、+右] |
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| uint16 | angle\_speed | 120-1500 | 转向角速度控制，单位为 rpm |
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| bool | sweep | true:清扫 false:不清扫 | 清扫 |
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| bool | sweep | true（清扫）、false（不清扫） | 清扫 |
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#### 对应 Topic
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@ -128,3 +128,5 @@ sudo dpkg -r controller
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| 版本 | 更新日期 | 更新内容 | 开发者 |
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| ---- | -------- | ------------------------------------------------------------ | ------------------ |
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| V1.0 | 2025-09-02 | 初始版本，定义`McCtrl.msg`和`Rtk.msg`结构，明确 Topic | \[zxwl] |
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| V1.1 | 2025-09-16 | controller.deb的安装、启动与卸载 | \[zxwl] |
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91
make_deb.sh
91
make_deb.sh
@ -10,10 +10,12 @@ INSTALL_DIR="/opt/${PKG_NAME}"
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WORKDIR="$(pwd)/deb_build"
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INSTALL_SRC="$(pwd)/install"
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# 清理工作目录
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rm -rf "${WORKDIR}"
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mkdir -p "${WORKDIR}/${INSTALL_DIR}"
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mkdir -p "${WORKDIR}/DEBIAN"
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# 复制 ROS2 install 文件
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cp -a "${INSTALL_SRC}/." "${WORKDIR}/${INSTALL_DIR}/"
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# control 文件
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@ -29,7 +31,44 @@ Depends: ros-humble-ros-base, libc6 (>= 2.34)
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Description: ${DESCRIPTION}
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EOF
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# 创建 start_all.sh
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# ============================
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# 创建 can.sh (root 执行)
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# ============================
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cat > "${WORKDIR}/${INSTALL_DIR}/can.sh" <<'EOF'
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#!/bin/bash
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# Script: can.sh
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# Description: Configures CAN interface can0 on startup
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if [[ $EUID -ne 0 ]]; then
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echo "This script must be run as root"
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exit 1
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fi
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if ip link show can0 &> /dev/null; then
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ip link set can0 down
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fi
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modprobe can
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modprobe can_raw
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modprobe mttcan
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ip link set can0 type can bitrate 500000
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ip link set up can0
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if [[ $? -ne 0 ]]; then
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echo "Error configuring CAN interface can0"
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exit 1
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fi
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echo "CAN interface can0 configured successfully"
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exit 0
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EOF
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chmod +x "${WORKDIR}/${INSTALL_DIR}/can.sh"
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# ============================
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# 创建 start_all.sh (nvidia 用户执行)
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# ============================
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cat > "${WORKDIR}/${INSTALL_DIR}/start_all.sh" <<EOF
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#!/bin/bash
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set -e
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@ -44,24 +83,45 @@ source ${INSTALL_DIR}/local_setup.bash
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ros2 run radio_ctrl radio_ctrl_node &
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ros2 run mc mc_node &
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ros2 run ctrl_arbiter ctrl_arbiter_node &
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ros2 run mqtt_report mqtt_report_node &
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ros2 run rtk rtk_node &
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ros2 run pub_gps pub_gps_node &
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# ros2 run mqtt_report mqtt_report_node &
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# ros2 run rtk rtk_node &
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# ros2 run pub_gps pub_gps_node &
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wait
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EOF
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chmod +x "${WORKDIR}/${INSTALL_DIR}/start_all.sh"
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# systemd 服务文件
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# ============================
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# systemd 服务目录
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# ============================
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mkdir -p "${WORKDIR}/etc/systemd/system"
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cat > "${WORKDIR}/etc/systemd/system/${PKG_NAME}.service" <<EOF
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# CAN 配置服务 (root 执行)
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cat > "${WORKDIR}/etc/systemd/system/${PKG_NAME}-can.service" <<EOF
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[Unit]
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Description=Remote Controller Nodes
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Description=Configure CAN interface can0
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After=network.target
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[Service]
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Type=simple
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Type=oneshot
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ExecStart=${INSTALL_DIR}/can.sh
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RemainAfterExit=yes
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User=root
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[Install]
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WantedBy=multi-user.target
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EOF
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# ROS2 节点服务 (nvidia 用户执行，依赖 CAN 配置)
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cat > "${WORKDIR}/etc/systemd/system/${PKG_NAME}.service" <<EOF
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[Unit]
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Description=Remote Controller Nodes
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After=network.target ${PKG_NAME}-can.service
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Requires=${PKG_NAME}-can.service
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[Service]
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Type=simple
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User=nvidia
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Environment="ROS_DISTRO=humble"
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ExecStart=${INSTALL_DIR}/start_all.sh
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Restart=on-failure
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@ -71,32 +131,41 @@ RestartSec=2
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WantedBy=multi-user.target
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EOF
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# postinst 脚本（安装后执行）
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# ============================
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# postinst 启用服务
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# ============================
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cat > "${WORKDIR}/DEBIAN/postinst" <<EOF
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#!/bin/bash
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set -e
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systemctl daemon-reload
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systemctl enable ${PKG_NAME}-can.service
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systemctl enable ${PKG_NAME}.service
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exit 0
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EOF
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chmod 755 "${WORKDIR}/DEBIAN/postinst"
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# postrm 脚本（卸载时执行）
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# ============================
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# postrm 停用服务
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# ============================
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cat > "${WORKDIR}/DEBIAN/postrm" <<EOF
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#!/bin/bash
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set -e
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systemctl stop ${PKG_NAME}.service || true
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systemctl disable ${PKG_NAME}.service || true
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systemctl stop ${PKG_NAME}-can.service || true
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systemctl disable ${PKG_NAME}-can.service || true
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systemctl daemon-reload
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exit 0
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EOF
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chmod 755 "${WORKDIR}/DEBIAN/postrm"
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# 打包
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# ============================
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# 构建 deb 包
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# ============================
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dpkg-deb --build "${WORKDIR}" "${PKG_NAME}_${PKG_VERSION}_${ARCH}.deb"
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echo "生成 ${PKG_NAME}_${PKG_VERSION}_${ARCH}.deb"
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