fe15edcbd5
- Unity frontend with ROS-TCP-Connector for ROS2 communication - Docker-based ROS2 Jazzy backend with MoveIt2 integration - Support for 1-9 DOF manipulators - UR5 robot configuration and URDF files - Assembly task feasibility analysis tools - Comprehensive documentation and deployment guides 🤖 Generated with [Claude Code](https://claude.com/claude-code) Co-Authored-By: Claude <noreply@anthropic.com>
620 lines
17 KiB
PowerShell
620 lines
17 KiB
PowerShell
# Unity-MoveIt2 系统快速部署脚本 (Windows PowerShell)
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# 此脚本自动化部署Unity-MoveIt2系统的所有组件
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param(
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[string]$Mode = "full", # full, ros2-only, unity-only
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[string]$RobotName = "niryo_one",
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[switch]$SkipDocker = $false,
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[switch]$Development = $false,
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[switch]$Verbose = $false
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)
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# 设置错误处理
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$ErrorActionPreference = "Stop"
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# 颜色输出函数
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function Write-ColorOutput {
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param(
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[string]$Message,
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[string]$Color = "White"
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)
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$colors = @{
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"Red" = [ConsoleColor]::Red
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"Green" = [ConsoleColor]::Green
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"Yellow" = [ConsoleColor]::Yellow
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"Blue" = [ConsoleColor]::Blue
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"Cyan" = [ConsoleColor]::Cyan
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"White" = [ConsoleColor]::White
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}
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Write-Host $Message -ForegroundColor $colors[$Color]
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}
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function Write-Step {
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param([string]$Message)
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Write-ColorOutput "🔄 $Message" "Cyan"
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}
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function Write-Success {
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param([string]$Message)
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Write-ColorOutput "✅ $Message" "Green"
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}
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function Write-Warning {
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param([string]$Message)
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Write-ColorOutput "⚠️ $Message" "Yellow"
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}
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function Write-Error {
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param([string]$Message)
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Write-ColorOutput "❌ $Message" "Red"
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}
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# 检查系统要求
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function Test-SystemRequirements {
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Write-Step "检查系统要求..."
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# 检查PowerShell版本
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if ($PSVersionTable.PSVersion.Major -lt 5) {
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throw "需要PowerShell 5.0或更高版本"
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}
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# 检查操作系统
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if (-not $IsWindows -and $PSVersionTable.PSVersion.Major -ge 6) {
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Write-Warning "此脚本主要为Windows设计"
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}
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# 检查Docker（如果需要）
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if (-not $SkipDocker) {
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try {
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$dockerVersion = docker --version
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Write-Success "Docker已安装: $dockerVersion"
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}
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catch {
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Write-Warning "Docker未安装或不可用，将跳过Docker部署"
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$script:SkipDocker = $true
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}
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}
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# 检查Git
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try {
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$gitVersion = git --version
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Write-Success "Git已安装: $gitVersion"
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}
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catch {
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throw "Git未安装，请先安装Git"
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}
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# 检查Python（用于ROS2）
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try {
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$pythonVersion = python --version
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Write-Success "Python已安装: $pythonVersion"
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}
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catch {
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Write-Warning "Python未安装，ROS2功能可能不可用"
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}
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Write-Success "系统要求检查完成"
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}
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# 创建目录结构
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function New-ProjectStructure {
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Write-Step "创建项目目录结构..."
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$directories = @(
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"logs",
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"cache",
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"temp",
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"backup",
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"models",
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"unity-project/Assets/Scripts",
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"unity-project/Assets/Prefabs",
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"unity-project/Assets/Materials",
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"ros2-workspace/src",
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"ros2-workspace/build",
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"ros2-workspace/install",
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"analysis-service/src",
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"analysis-service/config"
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)
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foreach ($dir in $directories) {
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$fullPath = Join-Path $PWD $dir
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if (-not (Test-Path $fullPath)) {
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New-Item -ItemType Directory -Path $fullPath -Force | Out-Null
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if ($Verbose) {
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Write-Host " 创建目录: $dir"
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}
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}
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}
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Write-Success "目录结构创建完成"
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}
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# 安装ROS2依赖
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function Install-ROS2Dependencies {
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Write-Step "安装ROS2依赖..."
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# 检查是否在WSL环境中
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if ($env:WSL_DISTRO_NAME) {
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Write-ColorOutput "检测到WSL环境，使用Linux安装方式" "Blue"
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# 在WSL中安装ROS2
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$wslCommands = @(
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"sudo apt update",
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"sudo apt install -y curl gnupg2 lsb-release",
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"curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg",
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"echo 'deb [arch=`$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu `$(. /etc/os-release && echo `$UBUNTU_CODENAME) main' | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null",
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"sudo apt update",
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"sudo apt install -y ros-humble-desktop",
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"sudo apt install -y ros-humble-moveit",
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"sudo apt install -y python3-colcon-common-extensions"
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)
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foreach ($cmd in $wslCommands) {
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Write-Host "执行: $cmd"
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wsl bash -c $cmd
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}
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}
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else {
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Write-ColorOutput "Windows环境，请手动安装ROS2 Humble" "Yellow"
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Write-Host "下载地址: https://github.com/ros2/ros2/releases"
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}
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Write-Success "ROS2依赖安装完成"
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}
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# 构建ROS2工作空间
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function Build-ROS2Workspace {
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Write-Step "构建ROS2工作空间..."
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$workspacePath = Join-Path $PWD "ros2-workspace"
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# 创建package.xml模板
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$packageXml = @"
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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>unity_moveit_bridge</name>
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<version>1.0.0</version>
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<description>Unity-MoveIt2 Bridge Package</description>
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<maintainer email="dev@unity-moveit.com">Unity-MoveIt2 Team</maintainer>
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<license>MIT</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<depend>rclcpp</depend>
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<depend>rclpy</depend>
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<depend>sensor_msgs</depend>
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<depend>geometry_msgs</depend>
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<depend>trajectory_msgs</depend>
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<depend>moveit_msgs</depend>
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<depend>moveit_core</depend>
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<depend>moveit_ros_planning_interface</depend>
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<depend>ros_tcp_endpoint</depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>
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"@
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$packagePath = Join-Path $workspacePath "src/unity_moveit_bridge/package.xml"
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New-Item -ItemType Directory -Path (Split-Path $packagePath) -Force | Out-Null
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Set-Content -Path $packagePath -Value $packageXml -Encoding UTF8
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# 创建CMakeLists.txt模板
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$cmakeContent = @"
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cmake_minimum_required(VERSION 3.8)
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project(unity_moveit_bridge)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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# find dependencies
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find_package(ament_cmake REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(rclpy REQUIRED)
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find_package(sensor_msgs REQUIRED)
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find_package(geometry_msgs REQUIRED)
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find_package(trajectory_msgs REQUIRED)
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find_package(moveit_msgs REQUIRED)
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find_package(moveit_core REQUIRED)
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find_package(moveit_ros_planning_interface REQUIRED)
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# Install Python modules
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ament_python_install_package(`${PROJECT_NAME})
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# Install Python scripts
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install(PROGRAMS
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scripts/bridge_node.py
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scripts/planning_node.py
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DESTINATION lib/`${PROJECT_NAME}
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)
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# Install launch files
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install(DIRECTORY launch
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DESTINATION share/`${PROJECT_NAME}/
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)
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# Install config files
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install(DIRECTORY config
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DESTINATION share/`${PROJECT_NAME}/
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)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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ament_lint_auto_find_test_dependencies()
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endif()
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ament_package()
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"@
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$cmakePath = Join-Path $workspacePath "src/unity_moveit_bridge/CMakeLists.txt"
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Set-Content -Path $cmakePath -Value $cmakeContent -Encoding UTF8
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# 构建工作空间
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if ($env:WSL_DISTRO_NAME) {
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Push-Location $workspacePath
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try {
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wsl bash -c "source /opt/ros/humble/setup.bash && colcon build --symlink-install"
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}
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finally {
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Pop-Location
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}
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}
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Write-Success "ROS2工作空间构建完成"
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}
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# 配置Unity项目
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function Set-UnityProject {
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Write-Step "配置Unity项目..."
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$unityProjectPath = Join-Path $PWD "unity-project"
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# 创建Unity项目配置文件
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$projectSettings = @{
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"companyName" = "Unity-MoveIt2"
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"productName" = "RobotSimulation"
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"version" = "1.0.0"
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"bundleVersion" = "1.0"
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}
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$settingsJson = $projectSettings | ConvertTo-Json -Depth 3
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$settingsPath = Join-Path $unityProjectPath "ProjectSettings/ProjectSettings.json"
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New-Item -ItemType Directory -Path (Split-Path $settingsPath) -Force | Out-Null
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Set-Content -Path $settingsPath -Value $settingsJson -Encoding UTF8
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# 创建基本的C#脚本模板
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$robotControllerScript = @"
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using UnityEngine;
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using Unity.Robotics.ROSTCPConnector;
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using RosMessageTypes.Sensor;
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using RosMessageTypes.Geometry;
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namespace UnityMoveIt2
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{
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public class RobotController : MonoBehaviour
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{
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[Header("ROS Configuration")]
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public string rosIPAddress = "127.0.0.1";
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public int rosPort = 10000;
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[Header("Robot Configuration")]
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public string robotName = "niryo_one";
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public Transform[] jointTransforms;
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private ROSConnection ros;
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void Start()
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{
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// 初始化ROS连接
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ROSConnection.GetOrCreateInstance().Connect(rosIPAddress, rosPort);
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ros = ROSConnection.GetOrCreateInstance();
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// 订阅关节状态
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ros.Subscribe<JointStateMsg>("/joint_states", OnJointStateReceived);
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Debug.Log("Unity机器人控制器初始化完成");
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}
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void OnJointStateReceived(JointStateMsg jointState)
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{
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// 更新关节位置
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UpdateJointPositions(jointState.position);
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}
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void UpdateJointPositions(double[] positions)
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{
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for (int i = 0; i < Mathf.Min(positions.Length, jointTransforms.Length); i++)
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{
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if (jointTransforms[i] != null)
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{
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// 根据关节类型更新旋转
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jointTransforms[i].localRotation = Quaternion.Euler(0, 0, (float)(positions[i] * Mathf.Rad2Deg));
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}
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}
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}
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public void SendJointCommand(float[] targetPositions)
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{
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// 发送关节命令到ROS2
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// 实现细节...
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}
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}
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}
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"@
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$scriptPath = Join-Path $unityProjectPath "Assets/Scripts/RobotController.cs"
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New-Item -ItemType Directory -Path (Split-Path $scriptPath) -Force | Out-Null
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Set-Content -Path $scriptPath -Value $robotControllerScript -Encoding UTF8
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Write-Success "Unity项目配置完成"
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}
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# 部署Docker服务
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function Deploy-DockerServices {
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if ($SkipDocker) {
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Write-Warning "跳过Docker部署"
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return
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}
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Write-Step "部署Docker服务..."
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$dockerComposePath = Join-Path $PWD "configs/docker/docker-compose.yml"
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if (-not (Test-Path $dockerComposePath)) {
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Write-Error "Docker Compose文件不存在: $dockerComposePath"
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return
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}
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try {
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# 构建镜像
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Write-Host "构建Docker镜像..."
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docker-compose -f $dockerComposePath build
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# 启动服务
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Write-Host "启动Docker服务..."
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docker-compose -f $dockerComposePath up -d
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# 等待服务启动
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Start-Sleep -Seconds 10
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# 检查服务状态
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$services = docker-compose -f $dockerComposePath ps --format json | ConvertFrom-Json
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foreach ($service in $services) {
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if ($service.State -eq "running") {
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Write-Success "服务 $($service.Service) 运行正常"
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}
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else {
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Write-Warning "服务 $($service.Service) 状态: $($service.State)"
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}
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}
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}
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catch {
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Write-Error "Docker部署失败: $_"
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}
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Write-Success "Docker服务部署完成"
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}
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# 验证部署
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function Test-Deployment {
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Write-Step "验证部署..."
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$tests = @()
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# 测试ROS2服务
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if (-not $SkipDocker) {
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try {
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$rosServices = docker exec unity-ros2-bridge ros2 service list 2>$null
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if ($rosServices -match "plan_kinematic_path") {
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$tests += @{ Name = "ROS2规划服务"; Status = "✅" }
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}
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else {
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$tests += @{ Name = "ROS2规划服务"; Status = "❌" }
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}
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}
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catch {
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$tests += @{ Name = "ROS2规划服务"; Status = "❌" }
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}
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}
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# 测试网络连接
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try {
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$tcpTest = Test-NetConnection -ComputerName "localhost" -Port 10000 -WarningAction SilentlyContinue
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if ($tcpTest.TcpTestSucceeded) {
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$tests += @{ Name = "TCP连接(10000)"; Status = "✅" }
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}
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else {
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$tests += @{ Name = "TCP连接(10000)"; Status = "❌" }
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}
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}
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catch {
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$tests += @{ Name = "TCP连接(10000)"; Status = "❌" }
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}
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# 测试文件结构
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$requiredFiles = @(
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"configs/robots/niryo_one.yaml",
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"configs/unity/unity_settings.json",
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"configs/ros2/bridge_config.yaml",
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"README.md"
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)
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foreach ($file in $requiredFiles) {
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if (Test-Path $file) {
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$tests += @{ Name = "文件: $file"; Status = "✅" }
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}
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else {
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$tests += @{ Name = "文件: $file"; Status = "❌" }
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}
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}
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# 显示测试结果
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Write-Host "`n部署验证结果:" -ForegroundColor Cyan
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Write-Host "=" * 50
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foreach ($test in $tests) {
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Write-Host "$($test.Status) $($test.Name)"
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}
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$successCount = ($tests | Where-Object { $_.Status -eq "✅" }).Count
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$totalCount = $tests.Count
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Write-Host "=" * 50
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Write-Host "通过: $successCount/$totalCount" -ForegroundColor $(if ($successCount -eq $totalCount) { "Green" } else { "Yellow" })
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if ($successCount -eq $totalCount) {
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Write-Success "所有验证测试通过！"
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}
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else {
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Write-Warning "部分验证测试失败，请检查配置"
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}
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}
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# 生成启动脚本
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function New-StartupScripts {
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Write-Step "生成启动脚本..."
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# Windows启动脚本
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$startScript = @"
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@echo off
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echo 启动Unity-MoveIt2系统...
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REM 检查Docker服务
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docker-compose -f configs/docker/docker-compose.yml ps >nul 2>&1
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if %errorlevel% neq 0 (
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echo 启动Docker服务...
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docker-compose -f configs/docker/docker-compose.yml up -d
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timeout /t 10 /nobreak >nul
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)
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REM 检查服务状态
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echo 检查服务状态...
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docker-compose -f configs/docker/docker-compose.yml ps
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echo.
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echo Unity-MoveIt2系统已启动
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echo 请在Unity中连接到 localhost:10000
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echo.
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pause
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"@
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Set-Content -Path "start-system.bat" -Value $startScript -Encoding UTF8
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# PowerShell启动脚本
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$psStartScript = @"
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# Unity-MoveIt2 系统启动脚本
|
||
Write-Host "启动Unity-MoveIt2系统..." -ForegroundColor Green
|
||
|
||
# 启动Docker服务
|
||
if (Get-Command docker-compose -ErrorAction SilentlyContinue) {
|
||
Write-Host "启动Docker服务..."
|
||
docker-compose -f configs/docker/docker-compose.yml up -d
|
||
Start-Sleep -Seconds 10
|
||
|
||
Write-Host "服务状态:"
|
||
docker-compose -f configs/docker/docker-compose.yml ps
|
||
}
|
||
else {
|
||
Write-Warning "Docker Compose未安装，请手动启动ROS2服务"
|
||
}
|
||
|
||
Write-Host "`nUnity-MoveIt2系统已启动" -ForegroundColor Green
|
||
Write-Host "请在Unity中连接到 localhost:10000" -ForegroundColor Cyan
|
||
"@
|
||
|
||
Set-Content -Path "start-system.ps1" -Value $psStartScript -Encoding UTF8
|
||
|
||
Write-Success "启动脚本生成完成"
|
||
}
|
||
|
||
# 主部署函数
|
||
function Start-Deployment {
|
||
Write-ColorOutput "`n🚀 Unity-MoveIt2 系统快速部署" "Blue"
|
||
Write-ColorOutput "=" * 50 "Blue"
|
||
|
||
Write-Host "部署模式: $Mode"
|
||
Write-Host "机器人: $RobotName"
|
||
Write-Host "跳过Docker: $SkipDocker"
|
||
Write-Host "开发模式: $Development"
|
||
Write-Host ""
|
||
|
||
try {
|
||
# 执行部署步骤
|
||
Test-SystemRequirements
|
||
New-ProjectStructure
|
||
|
||
if ($Mode -eq "full" -or $Mode -eq "ros2-only") {
|
||
Install-ROS2Dependencies
|
||
Build-ROS2Workspace
|
||
}
|
||
|
||
if ($Mode -eq "full" -or $Mode -eq "unity-only") {
|
||
Set-UnityProject
|
||
}
|
||
|
||
if ($Mode -eq "full" -and -not $SkipDocker) {
|
||
Deploy-DockerServices
|
||
}
|
||
|
||
New-StartupScripts
|
||
Test-Deployment
|
||
|
||
Write-ColorOutput "`n🎉 部署完成！" "Green"
|
||
Write-ColorOutput "=" * 50 "Green"
|
||
|
||
Write-Host "`n下一步操作:"
|
||
Write-Host "1. 运行 start-system.ps1 启动系统"
|
||
Write-Host "2. 在Unity中打开 unity-project 项目"
|
||
Write-Host "3. 配置ROS连接到 localhost:10000"
|
||
Write-Host "4. 开始使用Unity-MoveIt2系统！"
|
||
|
||
}
|
||
catch {
|
||
Write-Error "部署失败: $_"
|
||
Write-Host "`n请检查错误信息并重试"
|
||
exit 1
|
||
}
|
||
}
|
||
|
||
# 显示帮助信息
|
||
function Show-Help {
|
||
Write-Host @"
|
||
Unity-MoveIt2 快速部署脚本
|
||
|
||
用法:
|
||
.\quick-deploy.ps1 [参数]
|
||
|
||
参数:
|
||
-Mode <string> 部署模式 (full|ros2-only|unity-only) [默认: full]
|
||
-RobotName <string> 机器人名称 [默认: niryo_one]
|
||
-SkipDocker 跳过Docker部署
|
||
-Development 开发模式（包含调试工具）
|
||
-Verbose 详细输出
|
||
-Help 显示此帮助信息
|
||
|
||
示例:
|
||
.\quick-deploy.ps1 # 完整部署
|
||
.\quick-deploy.ps1 -Mode ros2-only # 仅部署ROS2
|
||
.\quick-deploy.ps1 -SkipDocker -Verbose # 跳过Docker，详细输出
|
||
.\quick-deploy.ps1 -Development # 开发模式部署
|
||
|
||
"@
|
||
}
|
||
|
||
# 脚本入口点
|
||
if ($args -contains "-Help" -or $args -contains "--help" -or $args -contains "-h") {
|
||
Show-Help
|
||
exit 0
|
||
}
|
||
|
||
# 开始部署
|
||
Start-Deployment |