Transférer les fichiers vers 'Projet/pioneer_gazebo_ros/pioneer_gazebo/src'
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#!/bin/bash
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PATH=$(echo $PATH | sed 's|/home/aadi-workstation/anaconda3/bin:||g')
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export PATH=$PATH
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my_pid=$$
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echo "My process ID is $my_pid"
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echo "Launching Gazebo..."
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roslaunch pioneer_gazebo multi_pioneer_world.launch &
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pid=$!
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echo "Loading initialisation parameters..."
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sleep 10s
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roslaunch pioneer_description robot_description.launch
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echo "Launching Pioneers in Gazebo stack..."
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sleep 5s
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for i in `seq 1 2`;
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do
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roslaunch pioneer_description generic_pioneer.launch name:=pioneer$i pose:="-x $(rosparam get /pioneer$i/x) -y $(rosparam get /pioneer$i/y) -Y $(rosparam get /pioneer$i/a)" &
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pid="$pid $!"
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sleep 7s
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done
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echo "Launching map server..."
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sleep 5s
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roslaunch nav_bundle map_server.launch map_name:=utm_0 &
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pid="$pid $!"
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echo "Advertising topics..."
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sleep 5s
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rosrun rocon_flip advertise-from-hub
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echo "Flipping connections to rviz..."
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rosrun rocon_flip flip-from-hub
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#echo "Launching rviz..."
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#roslaunch pioneer_description multi_pioneer_rviz.launch &
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#pid="$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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#!/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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