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G0_Images/g0_ros2_v3_client/data/docker_g0_hs_start_v3_1-lite.sh

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+#!/usr/bin/env bash
+set -euo pipefail
+
+SESSION_NAME="g0_three_tasks"
+CURL_RETRIES=5
+CURL_SLEEP=2
+
+
+# 函数：显示用法
+usage() {
+    echo "用法: $0 <0或1>"
+    echo "  0 - 表示VLM使用默认Gemini"
+    echo "  1 - 表示VLM使用Qwen"
+}
+
+# 检查参数
+if [ $# -ne 1 ]; then
+    echo "错误: 需要一个参数0或1，用于选择VLM使用模型"
+    usage
+    exit 1
+fi
+
+VLM_USE_QWEN=$1
+
+if tmux has-session -t "${SESSION_NAME}" 2>/dev/null; then
+	echo "已存在tmux session: ${SESSION_NAME}，正在清除进程..."
+    tmux kill-session -t "${SESSION_NAME}"
+    echo "原tmux session: ${SESSION_NAME}已killed！"
+fi
+
+ensure_tmux_installed() {
+  if ! command -v tmux >/dev/null 2>&1; then
+    echo "未检测到 tmux，正在安装..."
+    if command -v apt-get >/dev/null 2>&1; then
+      sudo apt-get update && sudo apt-get install -y tmux
+    elif command -v dnf >/dev/null 2>&1; then
+      sudo dnf install -y tmux
+    elif command -v yum >/dev/null 2>&1; then
+      sudo yum install -y tmux
+    elif command -v pacman >/dev/null 2>&1; then
+      sudo pacman -Sy --noconfirm tmux
+    else
+      echo "未找到已知包管理器，请手动安装 tmux 后重试。"
+      exit 1
+    fi
+  fi
+}
+
+create_tmux_windows_and_run() {
+  tmux new-session -d -s "${SESSION_NAME}" -n g0_VLA_node
+
+  # ---------------- Window 0 ----------------
+  CMD1="cd /home/ros/g0_ros2/galaxea_0 && \
+python experiments/robot/galaxea_real/run.py --run_dir runs/pick_and_place_ckpt/ --ckpt-id 100000 --use-vlm --interface-config.with_torso --interface-config.with_chassis --enable_debug"
+  tmux send-keys -t "${SESSION_NAME}:0" "bash -lc '${CMD1}; exec \$SHELL'" C-m
+
+  # ---------------- Window 1 (简化版 Code2) ----------------
+tmux new-window -t "${SESSION_NAME}" -n g0_VLM_node
+
+# 使用未加单引号的 heredoc，这样 ${VLM_USE_QWEN} 会在此处被展开为实际值
+CMD2=$(cat <<EOF
+# 读取并规范化环境变量（在 tmux 窗口内运行）
+# （这里会在构造 CMD2 时由父 shell 展开 ${VLM_USE_QWEN}）
+
+if [[ "${VLM_USE_QWEN}" == "1" ]]; then
+  echo "[Code2] VLM_USE_QWEN=1，直接使用 Qwen 模式启动（跳过代理与网络检测）..."
+  cd /home/ros/g0_ros2/Hierarchical_System || { echo "[Code2] 无法进入工作目录"; exec \$SHELL; }
+  ros2 run g0_vlm_node vlm_main -- --use-qwen
+  echo "[Code2] ros2 run 已退出，保留 shell 供查看。"
+  exec \$SHELL
+fi
+
+export https_proxy=http://127.0.0.1:7897
+export http_proxy=http://127.0.0.1:7897
+export all_proxy=http://127.0.0.1:7897
+
+cd /home/ros/g0_ros2/Hierarchical_System || { echo "[Code2] 无法进入工作目录"; exec \$SHELL; }
+
+echo "[Code2] VLM_USE_QWEN!=1，已设置代理，开始检查网络连通性（最多 5 次）..."
+for i in {1..5}; do
+  RESP=\$(curl -sI --max-time 8 www.google.com | head -n 1)
+  echo "[尝试 #\$i] \$RESP"
+  if echo "\$RESP" | grep -q "200 OK"; then
+    echo "[Code2] 检测到 200 OK，启动 ROS2 节点（默认模式）..."
+    ros2 run g0_vlm_node vlm_main -- --no-use-qwen
+    echo "[Code2] ros2 run 已退出，保留 shell 供查看。"
+    exec \$SHELL
+  fi
+  sleep 2
+done
+
+echo "[Code2][错误] 多次尝试后仍无法获得 200 OK，停止执行 ros2 run。请检查代理或网络设置。"
+exec \$SHELL
+EOF
+)
+
+  tmux send-keys -t "${SESSION_NAME}:1" "bash -lc '${CMD2}'" C-m
+
+  # ---------------- Window 2 ----------------
+  tmux new-window -t "${SESSION_NAME}" -n rosbridge_for_EHI
+  CMD3="ros2 launch rosbridge_server rosbridge_websocket_launch.xml"
+  tmux send-keys -t "${SESSION_NAME}:2" "bash -lc '${CMD3}; exec \$SHELL'" C-m
+  
+  tmux select-window -t "${SESSION_NAME}:0"
+
+  echo "tmux 会话 ${SESSION_NAME} 已创建。"
+  echo "使用命令查看： tmux attach -t ${SESSION_NAME}"
+}
+
+main() {
+  ensure_tmux_installed
+  create_tmux_windows_and_run
+}
+
+main

G0_Images/g0_ros2_v3_client/g0_hs_start_v3_1-lite-client.sh

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+#!/usr/bin/env bash
+set -euo pipefail
+
+# ------------------ 循环输入：EXEC_MODE ------------------
+while true; do
+  echo "请输入执行模式（0 或 1，按 q 退出）:"
+  echo "0: 初次执行（docker run，并拷贝权重文件）"
+  echo "1: 二次执行（docker start，仅一键拉起双系统Docker容器）"
+  read -r EXEC_MODE
+
+  if [[ "$EXEC_MODE" == "q" ]]; then
+    echo "已退出。"
+    exit 0
+  fi
+
+  if [[ "$EXEC_MODE" == "0" || "$EXEC_MODE" == "1" ]]; then
+    break
+  else
+    echo "输入无效，请重新输入。"
+  fi
+done
+
+# ------------------ 循环输入：USE_QWEN_FLAG ------------------
+while true; do
+  echo "是否启用 VLM 的 Qwen 模型？（0 或 1，按 q 退出）"
+  echo "0: 不启用（使用默认 Gemini，注意宿主机需正确配置代理）"
+  echo "1: 启用（宿主机无需代理）"
+  read -r USE_QWEN_FLAG
+
+  if [[ "$USE_QWEN_FLAG" == "q" ]]; then
+    echo "已退出。"
+    exit 0
+  fi
+
+  if [[ "$USE_QWEN_FLAG" == "0" || "$USE_QWEN_FLAG" == "1" ]]; then
+    break
+  else
+    echo "输入无效，请重新输入。"
+  fi
+done
+
+# ------------------ 变量定义 ------------------
+ckpt_dir_name="G0_Plus_P&P"
+ckpt_id="282276"
+
+if [[ "$USE_QWEN_FLAG" == "0" ]]; then
+  vlm_use_qwen="0"
+else
+  vlm_use_qwen="1"
+fi
+
+
+echo "------------------当前配置------------------"
+echo "Checkpoint 目录：${ckpt_dir_name}"
+echo "Checkpoint ID：${ckpt_id}"
+echo "VLM 使用 Qwen 模型：${vlm_use_qwen}"
+echo "------------------------------------------"
+
+
+DEFAULT_RLROBOT_PORT="180"
+echo "请输入要使用的机器人端口ID 10.42.0.<PORT>（回车使用默认：${DEFAULT_RLROBOT_PORT}）:"
+read -r USER_RLROBOT_PORT
+
+if [[ -z "$USER_RLROBOT_PORT" ]]; then
+  rlrobot_port="$DEFAULT_RLROBOT_PORT"
+else
+  rlrobot_port="$USER_RLROBOT_PORT"
+fi
+
+
+
+DEFAULT_CONTAINER="g0_ros2_v3_1-lite"
+
+echo "【最后一项】请输入要使用的 Docker 容器名称（回车使用默认：${DEFAULT_CONTAINER}）:"
+read -r USER_CONTAINER_INPUT
+
+if [[ -z "$USER_CONTAINER_INPUT" ]]; then
+  CONTAINER="$DEFAULT_CONTAINER"
+else
+  CONTAINER="$USER_CONTAINER_INPUT"
+fi
+
+
+
+# ------------------ 根据 EXEC_MODE 执行不同命令 ------------------
+
+if [[ "$EXEC_MODE" == "0" ]]; then
+  echo "执行模式 0：初次执行，启动容器..."
+  docker run -itd --name "$CONTAINER" \
+  --network host --gpus all --shm-size 256G -e DISPLAY="$DISPLAY" \
+  -v /tmp/.X11-unix:/tmp/.X11-unix:rw \
+  -v "$HOME/g0_ros2_v3/data":/data \
+  -v /usr/local/cuda-12.4:/usr/local/cuda-12.4:ro \
+  -e CUDA_HOME=/usr/local/cuda-12.4 \
+  -e LD_LIBRARY_PATH=/usr/local/cuda-12.4/lib64:${LD_LIBRARY_PATH:-} \
+  -u ros g0:ros2-v3.1-lite-client /bin/bash 
+
+  echo "拷贝权重文件...拷贝配置文件..."
+
+  docker exec -it "$CONTAINER" bash -lc "\
+    cp -f /data/docker_g0_hs_start_v3_1-lite.sh /home/ros/docker_g0_hs_start_v3_1-lite.sh && \
+    mkdir -p /home/ros/g0_ros2/galaxea_0/google && \
+    rm -rf /home/ros/g0_ros2/galaxea_0/google && \
+    cp -a /data/google /home/ros/g0_ros2/galaxea_0/google && \
+    mkdir -p /home/ros/g0_ros2/galaxea_0/runs/pick_and_place_ckpt && \
+    rm -rf /home/ros/g0_ros2/galaxea_0/runs/pick_and_place_ckpt && \
+    cp -a /data/${ckpt_dir_name} /home/ros/g0_ros2/galaxea_0/runs/pick_and_place_ckpt && \
+    mv -f /home/ros/g0_ros2/galaxea_0/runs/pick_and_place_ckpt/model_${ckpt_id}.pt \
+          /home/ros/g0_ros2/galaxea_0/runs/pick_and_place_ckpt/model_100000.pt || true && \
+    echo \"export FASTRTPS_DEFAULT_PROFILES_FILE=/home/ros/super_client_configuration_file.xml\" >> /home/ros/.bashrc && \
+    sed \"s/RLROBOT_PORT/${rlrobot_port}/g\" \
+    /home/ros/super_client_configuration_file.xml.tpl \
+    > /home/ros/super_client_configuration_file.xml && \
+    cd /home/ros && \
+    chmod +x docker_g0_hs_start_v3_1-lite.sh && \
+    ./docker_g0_hs_start_v3_1-lite.sh ${vlm_use_qwen}"
+
+else
+  echo "执行模式 1：将一键拉起双系统Docker容器，不进行拷贝。"
+  if ! docker inspect "$CONTAINER" >/dev/null 2>&1; then
+      echo "错误：容器 '$CONTAINER' 不存在。" >&2
+      exit 1
+  fi
+
+  is_running=$(docker inspect -f '{{.State.Running}}' "$CONTAINER")
+
+  if [ "$is_running" = "true" ]; then
+      echo "容器 '$CONTAINER' 已在运行，跳过 docker start。"
+  else
+      echo "容器 '$CONTAINER' 未运行，正在启动..."
+      docker start "$CONTAINER" || { echo "启动失败"; exit 1; }
+  fi
+  docker exec -it "$CONTAINER" bash -lc "\
+    cp -f /data/docker_g0_hs_start_v3_1-lite.sh /home/ros/docker_g0_hs_start_v3_1-lite.sh && \
+    cd /home/ros && \
+    chmod +x docker_g0_hs_start_v3_1-lite.sh && \
+    ./docker_g0_hs_start_v3_1-lite.sh ${vlm_use_qwen}"
+fi
+
+echo "执行完成！进入容器并附着 tmux 会话..."
+docker exec -it "$CONTAINER" bash -lc "tmux a"

G0_Images/g0_ros2_v3_client/g0_ros2-v3.1-lite-client.tar

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+version https://git-lfs.github.com/spec/v1
+oid sha256:7eacf674d4403e31e43e2d5e3ff23978b86bf1eddc2d1d6899e70fa05efe113c
+size 19851821056