#!/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