Aufgeräumt

2026-05-26 08:10:59 +02:00
parent 92c51b81ce
commit cb33bbf06c
202 changed files with 10 additions and 8758 deletions
@@ -0,0 +1,70 @@
+#!/bin/bash
+set -eo pipefail
+
+cleanup() {
+	for pid_var in HTTP_PID ROSMASTER_PID ROSBRIDGE_PID ROSAPI_PID ROBOT_PID MOTOR_PID JOYSTICK_PID JOY_PID DELAY_PID GPS_PID; do
+		if [[ -n "${!pid_var:-}" ]]; then
+			kill "${!pid_var}" 2>/dev/null || true
+		fi
+	done
+	wait || true
+}
+
+if [[ $1 == "config" ]]
+then
+	cd /root/exomy_ws/src/exomy/scripts
+	bash
+elif [[ $1 == "autostart" ]]
+then
+	trap cleanup EXIT INT TERM
+	source /opt/ros/melodic/setup.bash
+	cd /root/exomy_ws
+	catkin_make
+	export ROS_MASTER_URI=http://localhost:11311
+	source devel/setup.bash
+
+	cd src/exomy/gui
+	python -m SimpleHTTPServer 8000 &
+	HTTP_PID=$!
+	cd /root/exomy_ws
+
+	rosmaster --core -p 11311 -w 3 > /tmp/rosmaster.log 2>&1 &
+	ROSMASTER_PID=$!
+	sleep 3
+
+	rosparam load /root/exomy_ws/src/exomy/config/exomy.yaml
+	rosparam set /controller logitech-F710
+	rosparam set /delay_seconds 0.0
+	echo 0.0 > /tmp/exomy_delay.txt
+	rosparam set /speed_limit_percent 100
+	echo 100 > /tmp/exomy_speed_limit.txt
+
+	/opt/ros/melodic/lib/rosbridge_server/rosbridge_websocket > /tmp/rosbridge.log 2>&1 &
+	ROSBRIDGE_PID=$!
+	/opt/ros/melodic/lib/rosapi/rosapi_node > /tmp/rosapi.log 2>&1 &
+	ROSAPI_PID=$!
+	python /root/exomy_ws/src/exomy/src/delay_node.py > /tmp/delay_node.log 2>&1 &
+	DELAY_PID=$!
+	python /root/exomy_ws/src/exomy/src/f710_joy_node.py > /tmp/joy_node.log 2>&1 &
+	JOY_PID=$!
+	python /root/exomy_ws/src/exomy/src/robot_node.py > /tmp/robot_node.log 2>&1 &
+	ROBOT_PID=$!
+	python /root/exomy_ws/src/exomy/src/motor_node.py > /tmp/motor_node.log 2>&1 &
+	MOTOR_PID=$!
+	python /root/exomy_ws/src/exomy/src/joystick_parser_node.py > /tmp/joystick_parser.log 2>&1 &
+	JOYSTICK_PID=$!
+	python /root/exomy_ws/src/exomy/src/gps_node.py > /tmp/gps_node.log 2>&1 &
+	GPS_PID=$!
+
+	wait -n "$HTTP_PID" "$ROSMASTER_PID" "$ROSBRIDGE_PID" "$ROSAPI_PID" "$ROBOT_PID" "$MOTOR_PID" "$JOYSTICK_PID" "$JOY_PID" "$DELAY_PID" "$GPS_PID"
+	exit 1
+elif [[ $1 == "devel" ]]
+then
+	cd /root/exomy_ws
+	source /opt/ros/melodic/setup.bash
+	# catkin_make
+	# source devel/setup.bash
+	bash
+else
+	bash
+fi