forked from zbw/yiliao2026
31 lines
949 B
Bash
Executable File
31 lines
949 B
Bash
Executable File
#!/usr/bin/env bash
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if [[ "${BASH_SOURCE[0]}" == "$0" ]]; then
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echo "ERROR: source this file instead of executing it" >&2
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exit 64
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fi
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_rdk_dds_profile="/home/sunrise/yiliao_ws/config/dds/fastdds_rdk_164.xml"
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if ! ip -4 addr show dev wlx200db0c3fca5 2>/dev/null | grep -q 'inet 192\.168\.10\.164/'; then
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echo "ERROR: wlx200db0c3fca5 does not own 192.168.10.164" >&2
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unset _rdk_dds_profile
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return 1
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fi
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if [[ ! -r "${_rdk_dds_profile}" ]]; then
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echo "ERROR: unreadable Fast DDS profile: ${_rdk_dds_profile}" >&2
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unset _rdk_dds_profile
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return 1
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fi
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export ROS_DOMAIN_ID=22
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export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
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export ROS_LOCALHOST_ONLY=0
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export FASTRTPS_DEFAULT_PROFILES_FILE="${_rdk_dds_profile}"
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export FASTDDS_DEFAULT_PROFILES_FILE="${_rdk_dds_profile}"
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printf 'DDS link enabled: domain=%s rmw=%s local=192.168.10.164 profile=%s\n' \
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"${ROS_DOMAIN_ID}" "${RMW_IMPLEMENTATION}" "${_rdk_dds_profile}"
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unset _rdk_dds_profile
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