update: added python scripts to make life easier

build.py

@@ -0,0 +1,47 @@
+import subprocess
+import signal
+import os
+import time
+
+processes = []
+
+def source_setup_files():
+    subprocess.Popen("source /opt/ros/humble/setup.bash", shell=True, executable="/bin/bash")
+    #subprocess.Popen("source ./install/setup.bash", shell=True, executable="/bin/bash")
+    print("Setup files sourced")
+
+def start_process(command):
+    process = subprocess.Popen(command, shell=True, executable="/bin/bash", preexec_fn=os.setsid)
+    processes.append(process)
+    print(f"Started process with command: {command}")
+
+def stop_processes():
+    for process in processes:
+        os.killpg(os.getpgid(process.pid), signal.SIGTERM)
+    print("Stopped all processes")
+
+def handle_interrupt(signal, frame):
+    print("Keyboard interrupt detected")
+    stop_processes()
+    exit(0)
+
+# Add your commands here
+commands = [
+    "colcon build"
+]
+
+# Register the signal handler
+signal.signal(signal.SIGINT, handle_interrupt)
+
+# Source the setup files
+source_setup_files()
+
+# Start the remaining processes
+for command in commands:
+    start_process(command)
+
+# Wait for user input to stop the processes
+input("Press Enter to stop all processes...")
+
+# Stop all processes
+stop_processes()

run_mapping.py

@@ -0,0 +1,60 @@
+import subprocess
+import signal
+import os
+import time
+
+processes = []
+
+def source_setup_files():
+    subprocess.Popen("source /opt/ros/humble/setup.bash", shell=True, executable="/bin/bash")
+    subprocess.Popen("source ./install/setup.bash", shell=True, executable="/bin/bash")
+    print("Setup files sourced")
+
+def start_process(command):
+    process = subprocess.Popen(command, shell=True, executable="/bin/bash", preexec_fn=os.setsid)
+    processes.append(process)
+    print(f"Started process with command: {command}")
+
+def stop_processes():
+    for process in processes:
+        os.killpg(os.getpgid(process.pid), signal.SIGTERM)
+    print("Stopped all processes")
+
+def handle_interrupt(signal, frame):
+    print("Keyboard interrupt detected")
+    stop_processes()
+    exit(0)
+
+# Add your commands here
+commands = [
+    "ros2 launch bot_mini_bringup rsp.launch.py",
+    "ros2 launch bot_mini_bringup controller.launch.py",
+    "ros2 launch bot_mini_bringup joy_teleop.launch.py",
+    "ros2 launch bot_mini_bringup lidar.launch.py",
+    "ros2 launch bot_mini_bringup mapper.launch.py"
+]
+
+# Register the signal handler
+signal.signal(signal.SIGINT, handle_interrupt)
+
+# Source the setup files
+source_setup_files()
+
+# Start rsp.launch.py
+start_process(commands[0])
+
+# Start controller
+start_process(commands[1])
+# Wait for 20 seconds because the ros2 control needs some time to initialize.
+print("Waiting for 20 seconds...")
+time.sleep(20)
+
+# Start the remaining processes
+for command in commands[1:]:
+    start_process(command)
+
+# Wait for user input to stop the processes
+input("Press Enter to stop all processes...")
+
+# Stop all processes
+stop_processes()