threading

run_localization.py

@@ -2,6 +2,7 @@ import subprocess
 import signal
 import os
 import time
+import threading
 
 processes = []
 current_directory = os.getcwd()
@@ -35,15 +36,14 @@ launch_commands = [
     "robot_controller.launch.py",
     "robot_joy_teleop.launch.py",
     "robot_twist_mux.launch.py",
-    "robot_lidar.launch.py",
+    "robot_lidar.launch.py"
-    #"robot_cam.launch.py"
 ]
 
 # Create the commands by joining the base command with each launch command
 commands = [f"{base_command} {command}" for command in launch_commands]
 
 # Add the path to the map file
-map_file = os.path.join(current_directory, "src", "bot_mini_bringup", "maps", "default_map_save.yaml")
+map_file = os.path.join(current_directory, "src", "bot_mini_bringup", "maps", "default_save_map.yaml")
 map_command = f"ros2 launch nav2_bringup localization_launch.py map:={map_file}"
 commands.append(map_command)
 
@@ -53,12 +53,19 @@ signal.signal(signal.SIGINT, handle_interrupt)
 # Source the setup files
 source_setup_files()
 
-# Start the processes
+# Create and start threads for each command
+threads = []
 for command in commands:
-    start_process(command)
+    thread = threading.Thread(target=start_process, args=(command,))
+    thread.start()
+    threads.append(thread)
 
 # Wait for user input to stop the processes
 input("Press Enter to stop all processes...")
 
 # Stop all processes
 stop_processes()
+
+# Wait for all threads to complete
+for thread in threads:
+    thread.join()

run_localization.py.bak

@@ -0,0 +1,64 @@
+import subprocess
+import signal
+import os
+import time
+
+processes = []
+current_directory = os.getcwd()
+
+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)
+
+# Define the base command
+base_command = "ros2 launch bot_mini_bringup"
+
+# Define the commands to launch
+launch_commands = [
+    "rsp.launch.py",
+    "robot_controller.launch.py",
+    "robot_joy_teleop.launch.py",
+    "robot_twist_mux.launch.py",
+    "robot_lidar.launch.py",
+    #"robot_cam.launch.py"
+]
+
+# Create the commands by joining the base command with each launch command
+commands = [f"{base_command} {command}" for command in launch_commands]
+
+# Add the path to the map file
+map_file = os.path.join(current_directory, "src", "bot_mini_bringup", "maps", "default_map_save.yaml")
+map_command = f"ros2 launch nav2_bringup localization_launch.py map:={map_file}"
+commands.append(map_command)
+
+# Register the signal handler
+signal.signal(signal.SIGINT, handle_interrupt)
+
+# Source the setup files
+source_setup_files()
+
+# Start the 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()