feat: add omni-b variant, unify calibration and CAN across deformable infantry

.gitignore

@@ -1,7 +1,10 @@
-devel/
-log/
-build/
-install/
+/devel
+/log
+/build
+/install
+/rmcs_ws/log
+/rmcs_ws/build
+/rmcs_ws/install
 log-cross-*/
 build-cross-*/
 install-cross-*/

.gitmodules

@@ -1,3 +1,11 @@
 [submodule "rmcs_ws/src/fast_tf"]
 	path = rmcs_ws/src/fast_tf
 	url = https://github.com/qzhhhi/FastTF.git
+
+[submodule "rmcs_ws/src/hikcamera"]
+	path = rmcs_ws/src/hikcamera
+	url = https://github.com/Alliance-Algorithm/ros2-hikcamera.git
+
+[submodule "rmcs_ws/src/rmcs_auto_aim_v2"]
+	path = rmcs_ws/src/rmcs_auto_aim_v2
+	url = https://github.com/Alliance-Algorithm/rmcs_auto_aim_v2.git

.script/build-rmcs-cross

@@ -7,16 +7,22 @@ set -euo pipefail
 usage() {
     cat <<'EOF'
 Usage:
-  build-rmcs-cross --target-arch <arm64|amd64> [colcon build args...]
+  build-rmcs-cross --target-arch <arm64|amd64> [--link-default] [colcon build args...]
 
 Examples:
   build-rmcs-cross --target-arch arm64
+  build-rmcs-cross --target-arch arm64 --link-default
   build-rmcs-cross --target-arch amd64 --packages-up-to rmcs_executor
+
+Notes:
+  arm64 cross builds automatically skip 'hikcamera' and 'rmcs_auto_aim_v2'.
 EOF
 }
 
 target_arch=""
+link_default=0
 colcon_args=()
+auto_skip_packages=()
 
 while (($# > 0)); do
     case "$1" in
@@ -33,6 +39,10 @@ while (($# > 0)); do
         target_arch="${1#*=}"
         shift
         ;;
+    --link-default)
+        link_default=1
+        shift
+        ;;
     -h | --help)
         usage
         exit 0
@@ -53,6 +63,7 @@ fi
 case "${target_arch}" in
 arm64)
     target_triplet="aarch64-linux-gnu"
+    auto_skip_packages=(hikcamera rmcs_auto_aim_v2)
     ;;
 amd64)
     target_triplet="x86_64-linux-gnu"
@@ -146,10 +157,38 @@ export PKG_CONFIG_LIBDIR="${RMCS_SYSROOT}/usr/local/lib/${RMCS_TARGET_TRIPLET}/p
 
 cd "${workspace}"
 
+if ((${#auto_skip_packages[@]} > 0)); then
+    colcon_args+=(--packages-skip "${auto_skip_packages[@]}")
+fi
+
 build_base="build-cross-${RMCS_TARGET_ARCH}"
 install_base="install-cross-${RMCS_TARGET_ARCH}"
 log_base="log-cross-${RMCS_TARGET_ARCH}"
 
+check_default_linkable() {
+    local target="$1"
+    local link_name="$2"
+
+    if [[ ! -d "${target}" ]]; then
+        echo "> ERROR: Cross build output not found: ${workspace}/${target}"
+        exit 1
+    fi
+
+    if [[ -e "${link_name}" && ! -L "${link_name}" ]]; then
+        echo "> ERROR: Cannot link ${workspace}/${link_name} -> ${target}."
+        echo "> ${workspace}/${link_name} exists and is not a symlink. Move or remove it first."
+        exit 1
+    fi
+}
+
+link_default_base() {
+    local target="$1"
+    local link_name="$2"
+
+    ln -sfnT "${target}" "${link_name}"
+    echo "> Linked ${workspace}/${link_name} -> ${target}"
+}
+
 CLICOLOR_FORCE=1 NINJA_STATUS="" \
     colcon \
     --log-base "${log_base}" \
@@ -163,3 +202,13 @@ CLICOLOR_FORCE=1 NINJA_STATUS="" \
     -DRMCS_TARGET_ARCH="${RMCS_TARGET_ARCH}" \
     -DRMCS_SYSROOT="${RMCS_SYSROOT}" \
     -DRMCS_TARGET_TRIPLET="${RMCS_TARGET_TRIPLET}"
+
+if ((link_default)); then
+    check_default_linkable "${build_base}" build
+    check_default_linkable "${install_base}" install
+    check_default_linkable "${log_base}" log
+
+    link_default_base "${build_base}" build
+    link_default_base "${install_base}" install
+    link_default_base "${log_base}" log
+fi

.script/clean-rmcs

@@ -10,4 +10,10 @@ fi
 rm -rf -- \
     "${RMCS_PATH}/rmcs_ws/build" \
     "${RMCS_PATH}/rmcs_ws/install" \
-    "${RMCS_PATH}/rmcs_ws/log"
+    "${RMCS_PATH}/rmcs_ws/log" \
+    "${RMCS_PATH}/rmcs_ws/build-cross-arm64" \
+    "${RMCS_PATH}/rmcs_ws/install-cross-arm64" \
+    "${RMCS_PATH}/rmcs_ws/log-cross-arm64" \
+    "${RMCS_PATH}/rmcs_ws/build-cross-amd64" \
+    "${RMCS_PATH}/rmcs_ws/install-cross-amd64" \
+    "${RMCS_PATH}/rmcs_ws/log-cross-amd64"

.script/complete/_build-rmcs-cross

@@ -2,4 +2,5 @@
 
 _arguments \
   '--target-arch=[Cross compile target architecture]:target:(arm64 amd64)' \
+  '--link-default[Link build/install/log to cross build output directories]' \
   '*:colcon build args:'

docs/zh-cn/cross_build.md

@@ -31,20 +31,44 @@
 build-rmcs-cross --target-arch arm64
 ```
 
-适用于 `linux/amd64` 的 `latest-full` 变体。
+适用于 `linux/arm64` 的 `latest-full` 变体。
 
 ```bash
 build-rmcs-cross --target-arch amd64
 ```
 
-适用于 `linux/arm64` 的 `latest-full` 变体。
+适用于 `linux/amd64` 的 `latest-full` 变体。
 
 例如，可追加常见 `colcon build` 参数：
 
 ```bash
 build-rmcs-cross --target-arch arm64 --packages-up-to rmcs_executor
 ```
 
+若需要让现有 `sync-remote`、`env_setup` 等继续使用默认目录，可在 cross 构建成功后自动链接默认目录：
+
+```bash
+build-rmcs-cross --target-arch arm64 --link-default
+```
+
+链接方向等价于在 `rmcs_ws` 下执行：
+
+```bash
+ln -sfn build-cross-arm64 build
+ln -sfn install-cross-arm64 install
+ln -sfn log-cross-arm64 log
+```
+
+也就是创建或更新默认目录名，让 `build`、`install`、`log` 这三个软链接分别指向对应的 `*-cross-arm64` 目录。
+
+切回 native 构建时，直接运行：
+
+```bash
+build-rmcs
+```
+
+`build-rmcs` 会自动识别上述 cross 默认软链接，删除软链接并恢复成普通目录。
+
 ## 4. 构建环境隔离约束
 
 `build-rmcs-cross` 会显式清理并重建以下环境，避免 host/target 串用：