34 lines
635 B
Bash
34 lines
635 B
Bash
#!/bin/bash
|
|
|
|
my_pid=$$
|
|
echo "My process ID is $my_pid"
|
|
|
|
echo "Launching roscore..."
|
|
roscore &
|
|
pid=$!
|
|
sleep 5s
|
|
|
|
echo "Launching Gazebo..."
|
|
roslaunch pioneer_gazebo frontier_exploration_world.launch &
|
|
pid="$pid $!"
|
|
|
|
sleep 5s
|
|
|
|
echo "Launching navigation stack..."
|
|
roslaunch nav_bundle nav_bundle.launch &
|
|
pid="$pid $!"
|
|
|
|
sleep 3s
|
|
|
|
echo "Launching controller..."
|
|
roslaunch pioneer_ros pioneer_controller_spin_recover.launch &
|
|
pid="$pid $!"
|
|
|
|
echo "Launching Rviz..."
|
|
roslaunch pioneer_description frontier_map.launch rviz_name:=pioneer &
|
|
pid="$pid $!"
|
|
|
|
|
|
trap "echo Killing all processes.; kill -2 TERM $pid; exit" SIGINT SIGTERM
|
|
|
|
sleep 24h
|