jumeau_pioneer3DX/Projet/pioneer_gazebo_ros/pioneer_gazebo/src/run-pioneer-nav-local

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#!/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