[release] 规范 ROS 2 三代目录并校准训练说明

05_software/real/sim2real_ros2_v3/screen/README.md

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+# Orin 触控屏控制面板
+
+`fullscreen_quit.py` 是比赛 Orin 外接 `800×600` 屏幕使用的控制面板，通过本机 `http://127.0.0.1:18080/api/*` 调用 ROS 2 Web bridge，不建立第二套控制协议。
+
+```bash
+cd <sim2real_ros2_v3工作区>
+DISPLAY=:0 python3 screen/fullscreen_quit.py
+```
+
+程序默认从脚本父目录自动确定工作区，也可设置 `SIM2REAL_REPO_DIR` 覆盖。显示权限检查：
+
+```bash
+python3 screen/check_display.py
+```
+
+自启动脚本：
+
+- `install_autostart.sh`：图形桌面登录后启动。
+- `install_boot_service.sh <用户名>`：安装 systemd 服务。
+- `uninstall_boot_service.sh`：卸载服务。
+
+使用屏幕启动系统前，先完成工作区构建、Odin 配置、CAN 映射检查和急停验证。

05_software/real/sim2real_ros2_v3/screen/check_display.py

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+#!/usr/bin/env python3
+"""
+Print display-related diagnostics for launching the fullscreen quit screen.
+"""
+
+import glob
+import getpass
+import os
+import shlex
+import subprocess
+from typing import List, Optional
+
+
+def run(command: List[str]) -> str:
+    try:
+        result = subprocess.run(
+            command,
+            check=False,
+            capture_output=True,
+            text=True,
+        )
+    except OSError as exc:
+        return f"<failed: {exc}>"
+
+    output = result.stdout.strip()
+    error = result.stderr.strip()
+    if error:
+        return f"{output}\n{error}".strip()
+    return output
+
+
+def current_user() -> str:
+    try:
+        return getpass.getuser()
+    except OSError:
+        return os.environ.get("USER", "unknown")
+
+
+def xauth_from_x_processes() -> List[str]:
+    output = run(["ps", "-eo", "args"])
+    candidates = []
+    for line in output.splitlines():
+        if "Xorg" not in line and "Xwayland" not in line:
+            continue
+        try:
+            parts = shlex.split(line)
+        except ValueError:
+            parts = line.split()
+        for index, part in enumerate(parts[:-1]):
+            if part == "-auth":
+                candidates.append(parts[index + 1])
+    return candidates
+
+
+def print_path_status(label: str, path: Optional[str]) -> None:
+    if not path:
+        print(f"{label}: <unset>")
+        return
+    exists = os.path.exists(path)
+    readable = os.access(path, os.R_OK) if exists else False
+    print(f"{label}: {path} exists={exists} readable={readable}")
+
+
+def main() -> int:
+    uid = os.getuid()
+    print(f"user: {run(['whoami'])}")
+    print(f"uid: {uid}")
+    print(f"DISPLAY: {os.environ.get('DISPLAY', '<unset>')}")
+    print(f"XAUTHORITY: {os.environ.get('XAUTHORITY', '<unset>')}")
+    print()
+
+    print("candidate XAUTHORITY files:")
+    candidates = [
+        os.environ.get("XAUTHORITY"),
+        *xauth_from_x_processes(),
+        os.path.expanduser("~/.Xauthority"),
+        f"/run/user/{uid}/gdm/Xauthority",
+        f"/run/user/{uid}/Xauthority",
+        *glob.glob(f"/run/user/{uid}/*Xauthority*"),
+    ]
+
+    seen = set()
+    for candidate in candidates:
+        key = candidate or "<unset>"
+        if key in seen:
+            continue
+        seen.add(key)
+        print_path_status("  -", candidate)
+
+    print()
+    print("X server processes:")
+    x_lines = [
+        line
+        for line in run(["ps", "-eo", "user,args"]).splitlines()
+        if "Xorg" in line or "Xwayland" in line
+    ]
+    if x_lines:
+        for line in x_lines:
+            print(f"  {line}")
+    else:
+        print("  <none found>")
+
+    print()
+    print("recommended SSH launch:")
+    print("  cd <workspace>/screen")
+    print("  bash run_fullscreen_quit.sh")
+    print()
+    print("if authorization fails, run this on the Nano desktop terminal once:")
+    print(f"  DISPLAY=:0 xhost +SI:localuser:{current_user()}")
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())

05_software/real/sim2real_ros2_v3/screen/install_autostart.sh

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+#!/usr/bin/env bash
+set -euo pipefail
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+AUTOSTART_DIR="$HOME/.config/autostart"
+DESKTOP_FILE="$AUTOSTART_DIR/sim2real-screen.desktop"
+
+mkdir -p "$AUTOSTART_DIR"
+chmod +x "$SCRIPT_DIR/run_fullscreen_quit.sh"
+
+cat > "$DESKTOP_FILE" <<EOF
+[Desktop Entry]
+Type=Application
+Name=sim2real Screen
+Comment=Start the sim2real touch control panel
+Exec=$SCRIPT_DIR/run_fullscreen_quit.sh
+Path=$SCRIPT_DIR
+Terminal=false
+X-GNOME-Autostart-enabled=true
+StartupNotify=false
+EOF
+
+echo "Installed desktop autostart:"
+echo "  $DESKTOP_FILE"
+echo
+echo "It will start after this user logs into the graphical desktop."
+echo "For boot-time use, enable automatic login for this user on the Orin desktop."

05_software/real/sim2real_ros2_v3/screen/install_boot_service.sh

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+#!/usr/bin/env bash
+set -euo pipefail
+
+if ! command -v systemctl >/dev/null 2>&1; then
+    echo "systemctl not found; this installer is for systemd-based Linux." >&2
+    exit 1
+fi
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+SERVICE_NAME="sim2real-screen.service"
+SERVICE_PATH="/etc/systemd/system/$SERVICE_NAME"
+
+if [ "${EUID:-$(id -u)}" -eq 0 ]; then
+    RUN_USER="${1:-${SUDO_USER:-rc2}}"
+else
+    RUN_USER="${1:-$(id -un)}"
+fi
+
+if ! id "$RUN_USER" >/dev/null 2>&1; then
+    echo "User '$RUN_USER' does not exist. Usage: bash install_boot_service.sh rc2" >&2
+    exit 1
+fi
+
+RUN_GROUP="$(id -gn "$RUN_USER")"
+RUN_HOME="$(getent passwd "$RUN_USER" | cut -d: -f6)"
+AUTOSTART_FILE="$RUN_HOME/.config/autostart/sim2real-screen.desktop"
+
+chmod +x "$SCRIPT_DIR/run_fullscreen_quit.sh" "$SCRIPT_DIR/run_boot_screen_service.sh"
+if [ -f "$AUTOSTART_FILE" ]; then
+    rm -f "$AUTOSTART_FILE"
+    echo "Removed desktop autostart to avoid duplicate screen instances:"
+    echo "  $AUTOSTART_FILE"
+fi
+
+SERVICE_CONTENT="[Unit]
+Description=sim2real touchscreen control panel
+Wants=display-manager.service
+After=systemd-user-sessions.service display-manager.service
+StartLimitIntervalSec=0
+
+[Service]
+Type=simple
+User=$RUN_USER
+Group=$RUN_GROUP
+WorkingDirectory=$SCRIPT_DIR
+Environment=HOME=$RUN_HOME
+Environment=DISPLAY=:0
+Environment=PYTHONUNBUFFERED=1
+ExecStart=$SCRIPT_DIR/run_boot_screen_service.sh
+Restart=always
+RestartSec=2
+KillSignal=SIGINT
+TimeoutStopSec=20
+
+[Install]
+WantedBy=graphical.target
+"
+
+printf "%s" "$SERVICE_CONTENT" | sudo tee "$SERVICE_PATH" >/dev/null
+sudo systemctl daemon-reload
+sudo systemctl enable "$SERVICE_NAME"
+
+echo "Installed and enabled:"
+echo "  $SERVICE_PATH"
+echo
+echo "Start now:"
+echo "  sudo systemctl restart $SERVICE_NAME"
+echo
+echo "Check status/logs:"
+echo "  systemctl status $SERVICE_NAME --no-pager"
+echo "  journalctl -u $SERVICE_NAME -f"
+echo
+echo "Important: the graphical desktop for user '$RUN_USER' must auto-login, otherwise Tk cannot open DISPLAY=:0."

05_software/real/sim2real_ros2_v3/screen/run_boot_screen_service.sh

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+#!/usr/bin/env bash
+set -euo pipefail
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+
+export DISPLAY="${DISPLAY:-:0}"
+export PYTHONUNBUFFERED=1
+
+echo "[sim2real-screen] service starting as $(id -un), DISPLAY=$DISPLAY"
+
+for _ in $(seq 1 120); do
+    if [ -S "/tmp/.X11-unix/X${DISPLAY#:}" ]; then
+        break
+    fi
+    sleep 1
+done
+
+if [ ! -S "/tmp/.X11-unix/X${DISPLAY#:}" ]; then
+    echo "[sim2real-screen] X11 socket for DISPLAY=$DISPLAY not found" >&2
+    exit 1
+fi
+
+exec "$SCRIPT_DIR/run_fullscreen_quit.sh"

05_software/real/sim2real_ros2_v3/screen/run_fullscreen_quit.sh

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+#!/usr/bin/env bash
+set -u
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+cd "$SCRIPT_DIR"
+
+export DISPLAY="${DISPLAY:-:0}"
+
+if [ -z "${XAUTHORITY:-}" ]; then
+    UID_VALUE="$(id -u)"
+
+    for candidate in \
+        "$HOME/.Xauthority" \
+        "/run/user/$UID_VALUE/gdm/Xauthority" \
+        "/run/user/$UID_VALUE/Xauthority"
+    do
+        if [ -f "$candidate" ]; then
+            export XAUTHORITY="$candidate"
+            break
+        fi
+    done
+fi
+
+python3 fullscreen_quit.py

05_software/real/sim2real_ros2_v3/screen/uninstall_boot_service.sh

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+#!/usr/bin/env bash
+set -euo pipefail
+
+SERVICE_NAME="sim2real-screen.service"
+SERVICE_PATH="/etc/systemd/system/$SERVICE_NAME"
+
+sudo systemctl disable --now "$SERVICE_NAME" 2>/dev/null || true
+sudo rm -f "$SERVICE_PATH"
+sudo systemctl daemon-reload
+
+echo "Removed $SERVICE_NAME"