29 lines
1004 B
Bash
29 lines
1004 B
Bash
#!/bin/bash
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# Basic entrypoint for ROS / Colcon Docker containers
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# Source ROS 2
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source /opt/ros/${ROS_DISTRO}/setup.bash
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echo "Sourced ROS 2 ${ROS_DISTRO}"
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# Source the base workspace, if built
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if [ -f ${UNDERLAY_WS}/install/setup.bash ]
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then
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source ${UNDERLAY_WS}/install/setup.bash
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#export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:$(ros2 pkg prefix turtlebot3_gazebo)/share/turtlebot3_gazebo/models
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echo "Sourced Bot Mini base workspace"
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fi
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# Source the overlay workspace, if built
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if [ -f /overlay_ws/install/setup.bash ]
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then
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source /overlay_ws/install/setup.bash
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#export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:$(ros2 pkg prefix tb3_worlds)/share/tb3_worlds/models
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echo "Sourced Bot Mini overlay workspace"
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fi
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# Start Robot ROS2 Nodes
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ros2 launch bot_mini_bringup robot_controller.launch.py priority:=80 cpu-affinity:=4 lock-memory-size:=100 config-child-threads:=True &
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ros2 launch bot_mini_bringup robot_twist_mux.launch.py &
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ros2 launch bot_mini_bringup robot_joy_teleop.launch.py
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wait |