mirror of
https://github.com/bjoernellens1/cps_loki.git
synced 2024-11-22 23:33:50 +00:00
48 lines
1.2 KiB
Python
48 lines
1.2 KiB
Python
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()
|