@ioai/robot_viewer 0.0.0-stage → 1.1.2

package/dist/scripts/start-rosbridge.sh

@@ -0,0 +1,77 @@
+#!/bin/bash
+# Robot Viewer - ROS Bridge 启动脚本
+# 用法: ./start-rosbridge.sh [--domain_id=<domain_id>]
+
+DOMAIN_ID=0
+
+# 解析参数
+while [[ $# -gt 0 ]]; do
+    case "$1" in
+        --domain_id=*)
+            DOMAIN_ID="${1#*=}"
+            shift
+            ;;
+        -h|--help)
+            echo "用法: $0 [--domain_id=<domain_id>]"
+            echo ""
+            echo "选项:"
+            echo "  --domain_id=<id>   设置 ROS_DOMAIN_ID (默认: 0)"
+            echo "  -h, --help         显示此帮助信息"
+            exit 0
+            ;;
+        *)
+            echo "未知参数: $1"
+            echo "用法: $0 [--domain_id=<domain_id>]"
+            echo "使用 --help 查看详细帮助"
+            exit 1
+            ;;
+    esac
+done
+
+echo "🤖 启动 rosbridge_server (ROS_DOMAIN_ID=$DOMAIN_ID)..."
+
+# 检查端口占用
+if lsof -Pi :9090 -sTCP:LISTEN -t >/dev/null 2>&1 ; then
+    echo "⚠️  端口 9090 已被占用"
+    echo ""
+    echo "正在运行的进程："
+    ps aux | grep rosbridge | grep -v grep
+    echo ""
+    echo "如需重启，请先停止现有进程："
+    echo "  sudo pkill -f rosbridge_websocket"
+    exit 1
+fi
+
+# 检测 ROS 2 环境
+if [ -z "$ROS_DISTRO" ]; then
+    for distro in jazzy humble iron; do
+        if [ -f "/opt/ros/$distro/setup.bash" ]; then
+            source /opt/ros/$distro/setup.bash
+            break
+        fi
+    done
+fi
+
+if [ -z "$ROS_DISTRO" ]; then
+    echo "❌ 未检测到 ROS 2 环境"
+    echo "请先安装 ROS 2: https://docs.ros.org/en/humble/Installation.html"
+    exit 1
+fi
+
+echo "✅ ROS 2 $ROS_DISTRO"
+
+# 检查 rosbridge_suite 是否安装
+if ! ros2 pkg list | grep -q rosbridge_server; then
+    echo "📦 安装 rosbridge_suite..."
+    sudo apt-get update
+    sudo apt-get install -y ros-$ROS_DISTRO-rosbridge-suite
+fi
+
+# 在后台持续发布 domain_id，供 Web 端查询
+echo "🚀 启动中..."
+ROS_DOMAIN_ID=$DOMAIN_ID ros2 topic pub /robot_viewer/domain_id std_msgs/msg/Int32 \
+    "{data: $DOMAIN_ID}" -r 1 > /dev/null 2>&1 &
+DOMAIN_PUB_PID=$!
+trap "kill $DOMAIN_PUB_PID 2>/dev/null" EXIT
+
+ROS_DOMAIN_ID=$DOMAIN_ID ros2 launch rosbridge_server rosbridge_websocket_launch.xml

package/dist/usd-iframe.html

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+<!DOCTYPE html>
+<html lang="zh-CN">
+<head>
+    <meta charset="UTF-8">
+    <meta name="viewport" content="width=device-width, initial-scale=1.0">
+    <title>USD Viewer</title>
+    <style>
+        * { margin: 0; padding: 0; }
+        html, body {
+            width: 100%;
+            height: 100%;
+            overflow: hidden;
+            background: transparent;
+            pointer-events: none;
+        }
+        iframe {
+            width: 100%;
+            height: 100%;
+            border: none;
+            display: block;
+            background: transparent;
+            pointer-events: all;
+        }
+    </style>
+</head>
+<body>
+    <iframe id="usd-frame" src="/usd-viewer/usd.html"></iframe>
+    <script>
+        // Simple message forwarding
+        const iframe = document.getElementById('usd-frame');
+        window.addEventListener('message', (e) => {
+            if (e.source === iframe.contentWindow) {
+                parent.postMessage(e.data, '*');
+            } else if (e.source === parent) {
+                iframe.contentWindow.postMessage(e.data, '*');
+            }
+        });
+    </script>
+</body>
+</html>
+

package/dist/usd-viewer/bindings/.gitattributes

@@ -0,0 +1,2 @@
+*.data binary
+*.wasm binary