26 lines
721 B
Text
26 lines
721 B
Text
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#!/bin/bash
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my_pid=$$
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echo "My process ID is $my_pid"
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export ROBOT_NAME="pioneer"
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echo "Pulling advertised topics..."
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rosrun rocon_flip pull-from-hub
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echo "Flipping topics from local machine..."
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rosrun rocon_flip pioneer-nav-flip
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echo "Loading robot parameters..."
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roslaunch pioneer_description robot_description.launch
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rosparam set /use_sim_time true
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echo "Launching robot navigation packages..."
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namespace=($ROBOT_NAME)
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roslaunch nav_bundle single_navigation.launch robot_name:=${namespace[0]} x:="$(rosparam get /${namespace[0]}/x)" y:="$(rosparam get /${namespace[0]}/y)" yaw:="$(rosparam get /${namespace[0]}/a)" &
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pid=$!
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trap "echo Killing all processes.; kill -2 TERM $pid; exit" SIGINT SIGTERM
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sleep 24h
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