From aa6ebbd834b5d87db0dfe2a6ed47037eb6b39f98 Mon Sep 17 00:00:00 2001
From: Hadrien <hadrien@noreply.localhost>
Date: Sat, 27 Jun 2020 10:31:50 +0200
Subject: [PATCH] =?UTF-8?q?Transf=C3=A9rer=20les=20fichiers=20vers=20'Proj?=
 =?UTF-8?q?et/pioneer=5Fgazebo=5Fros/pioneer=5Fgazebo/src'?=
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---
 .../src/run-multi-pioneer-gazebo-master       | 44 +++++++++++++++++++
 .../pioneer_gazebo/src/run-pioneer-nav-local  | 25 +++++++++++
 2 files changed, 69 insertions(+)
 create mode 100644 Projet/pioneer_gazebo_ros/pioneer_gazebo/src/run-multi-pioneer-gazebo-master
 create mode 100644 Projet/pioneer_gazebo_ros/pioneer_gazebo/src/run-pioneer-nav-local

diff --git a/Projet/pioneer_gazebo_ros/pioneer_gazebo/src/run-multi-pioneer-gazebo-master b/Projet/pioneer_gazebo_ros/pioneer_gazebo/src/run-multi-pioneer-gazebo-master
new file mode 100644
index 0000000..a41174c
--- /dev/null
+++ b/Projet/pioneer_gazebo_ros/pioneer_gazebo/src/run-multi-pioneer-gazebo-master
@@ -0,0 +1,44 @@
+#!/bin/bash
+
+PATH=$(echo $PATH | sed 's|/home/aadi-workstation/anaconda3/bin:||g')
+export PATH=$PATH
+
+my_pid=$$
+echo "My process ID is $my_pid"
+
+echo "Launching Gazebo..."
+roslaunch pioneer_gazebo multi_pioneer_world.launch &
+pid=$!
+
+echo "Loading initialisation parameters..."
+sleep 10s
+roslaunch pioneer_description robot_description.launch
+
+echo "Launching Pioneers in Gazebo stack..."
+sleep 5s
+for i in `seq 1 2`;
+do
+  roslaunch pioneer_description generic_pioneer.launch name:=pioneer$i pose:="-x $(rosparam get /pioneer$i/x) -y $(rosparam get /pioneer$i/y) -Y $(rosparam get /pioneer$i/a)" &
+  pid="$pid $!"
+  sleep 7s
+done
+
+echo "Launching map server..."
+sleep 5s
+roslaunch nav_bundle map_server.launch map_name:=utm_0 &
+pid="$pid $!"
+
+echo "Advertising topics..."
+sleep 5s
+rosrun rocon_flip advertise-from-hub
+
+echo "Flipping connections to rviz..."
+rosrun rocon_flip flip-from-hub
+
+#echo "Launching rviz..."
+#roslaunch pioneer_description multi_pioneer_rviz.launch &
+#pid="$pid $!"
+
+trap "echo Killing all processes.; kill -2 TERM $pid; exit" SIGINT SIGTERM
+
+sleep 24h
diff --git a/Projet/pioneer_gazebo_ros/pioneer_gazebo/src/run-pioneer-nav-local b/Projet/pioneer_gazebo_ros/pioneer_gazebo/src/run-pioneer-nav-local
new file mode 100644
index 0000000..8cf13ed
--- /dev/null
+++ b/Projet/pioneer_gazebo_ros/pioneer_gazebo/src/run-pioneer-nav-local
@@ -0,0 +1,25 @@
+#!/bin/bash
+ 
+my_pid=$$
+echo "My process ID is $my_pid"
+
+export ROBOT_NAME="pioneer"
+
+echo "Pulling advertised topics..."
+rosrun rocon_flip pull-from-hub
+
+echo "Flipping topics from local machine..."
+rosrun rocon_flip pioneer-nav-flip
+
+echo "Loading robot parameters..."
+roslaunch pioneer_description robot_description.launch
+rosparam set /use_sim_time true
+
+echo "Launching robot navigation packages..."
+namespace=($ROBOT_NAME)
+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 /${namespace[0]}/a)" &
+pid=$!
+
+trap "echo Killing all processes.; kill -2 TERM $pid; exit" SIGINT SIGTERM
+
+sleep 24h