Eskimue/ExoMy_Cuno
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Eskimue
2026-05-21 20:12:02 +02:00
parent 1c139887fd
commit f53d51acb6
9 changed files with 346 additions and 5 deletions
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ExoMy_Software-master/docker/entrypoint.sh
+5 -2
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@@ -2,7 +2,7 @@
set -eo pipefail
cleanup() {
for pid_var in HTTP_PID ROSMASTER_PID ROSBRIDGE_PID ROSAPI_PID ROBOT_PID MOTOR_PID JOYSTICK_PID JOY_PID; do
for pid_var in HTTP_PID ROSMASTER_PID ROSBRIDGE_PID ROSAPI_PID ROBOT_PID MOTOR_PID JOYSTICK_PID JOY_PID DELAY_PID; do
if [[ -n "${!pid_var:-}" ]]; then
kill "${!pid_var}" 2>/dev/null || true
fi
@@ -34,11 +34,14 @@ then
rosparam load /root/exomy_ws/src/exomy/config/exomy.yaml
rosparam set /controller logitech-F710
rosparam set /delay_seconds 0.0
/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 &
@@ -48,7 +51,7 @@ then
python /root/exomy_ws/src/exomy/src/joystick_parser_node.py > /tmp/joystick_parser.log 2>&1 &
JOYSTICK_PID=$!
wait -n "$HTTP_PID" "$ROSMASTER_PID" "$ROSBRIDGE_PID" "$ROSAPI_PID" "$ROBOT_PID" "$MOTOR_PID" "$JOYSTICK_PID" "$JOY_PID"
wait -n "$HTTP_PID" "$ROSMASTER_PID" "$ROSBRIDGE_PID" "$ROSAPI_PID" "$ROBOT_PID" "$MOTOR_PID" "$JOYSTICK_PID" "$JOY_PID" "$DELAY_PID"
exit 1
elif [[ $1 == "devel" ]]
then