#!/bin/bash
ID=$1
if [[ -n ${ID//[0-9]/} ]]; then
    echo "Invalid pioneer number!"
    exit 1
fi
source /opt/ros/hydro/setup.bash
source /home/lab1_5/ws/ws_linux/devel/setup.bash
export ROS_MASTER_URI='http://10.104.16.29:11311'
export ROS_IP=10.104.16.4${ID}
export PIONIER_ID=${ID}
export ROS_NAMESPACE=/PIONIER${ID}

#rosrun rosaria RosAria _port:=/dev/ttyS0 & >/dev/null 2>&1
rosrun rosaria RosAria _port:=/dev/ttyS0 _tf_prefix:=/PIONIER${ID} &
#rosrun safety cloud_reader 0.7 &
rosrun hokuyo_node hokuyo_node _frame_id:="${ROS_NAMESPACE}/laser" &
#rosrun videostream videostream &
#cvlc v4l2:///dev/video0 :v4l2-standard=  :sout='#transcode{vcodec=FLV1,vb=0,scale=0,acodec=none}:http{mux=ffmpeg{mux=flv},dst=:8080/}' :sout-keep :live-caching=300 &