mirror of
https://github.com/bjoernellens1/cps_loki.git
synced 2024-11-22 23:33:50 +00:00
62 lines
1.7 KiB
Python
62 lines
1.7 KiB
Python
import subprocess
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import signal
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import os
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import time
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processes = []
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def source_setup_files():
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subprocess.Popen("source /opt/ros/humble/setup.bash", shell=True, executable="/bin/bash")
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subprocess.Popen("source ./install/setup.bash", shell=True, executable="/bin/bash")
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print("Setup files sourced")
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def start_process(command):
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process = subprocess.Popen(command, shell=True, executable="/bin/bash", preexec_fn=os.setsid)
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processes.append(process)
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print(f"Started process with command: {command}")
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def stop_processes():
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for process in processes:
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os.killpg(os.getpgid(process.pid), signal.SIGTERM)
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print("Stopped all processes")
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def handle_interrupt(signal, frame):
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print("Keyboard interrupt detected")
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stop_processes()
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exit(0)
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# Add your commands here
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commands = [
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#"ros2 launch bot_mini_bringup rsp.launch.py",
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"ros2 launch bot_mini_bringup robot_controller.launch.py",
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"ros2 launch bot_mini_bringup robot_joy_teleop.launch.py",
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"ros2 launch bot_mini_bringup robot_twist_mux.launch.py",
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"ros2 launch bot_mini_bringup robot_lidar.launch.py",
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"ros2 launch bot_mini_bringup robot_mapper.launch.py"
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]
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# Register the signal handler
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signal.signal(signal.SIGINT, handle_interrupt)
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# Source the setup files
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source_setup_files()
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# Start rsp.launch.py
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start_process(commands[0])
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# Start controller
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start_process(commands[1])
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# Wait for 20 seconds because the ros2 control needs some time to initialize.
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print("Waiting for 20 seconds...")
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time.sleep(20)
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# Start the remaining processes
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for command in commands[1:]:
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start_process(command)
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# Wait for user input to stop the processes
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input("Press Enter to stop all processes...")
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# Stop all processes
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stop_processes()
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