27 lines
814 B
Bash
27 lines
814 B
Bash
#!/bin/bash
|
|
# Basic entrypoint for ROS / Colcon Docker containers
|
|
|
|
# Source ROS 2
|
|
source /opt/ros/${ROS_DISTRO}/setup.bash
|
|
echo "Sourced ROS 2 ${ROS_DISTRO}"
|
|
|
|
# Source the base workspace, if built
|
|
if [ -f ${UNDERLAY_WS}/install/setup.bash ]
|
|
then
|
|
source ${UNDERLAY_WS}/install/setup.bash
|
|
#export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:$(ros2 pkg prefix turtlebot3_gazebo)/share/turtlebot3_gazebo/models
|
|
echo "Sourced CPS RMP 220 base workspace"
|
|
fi
|
|
|
|
# Source the overlay workspace, if built
|
|
if [ -f /overlay_ws/install/setup.bash ]
|
|
then
|
|
source /overlay_ws/install/setup.bash
|
|
#export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:$(ros2 pkg prefix tb3_worlds)/share/tb3_worlds/models
|
|
echo "Sourced CPS RMP 220 Overlay workspace"
|
|
fi
|
|
|
|
export ROS_DOMAIN_ID=5
|
|
|
|
# Execute the command passed into this entrypoint
|
|
exec "$@" |