28 lines
866 B
Bash
Executable File
28 lines
866 B
Bash
Executable File
#!/usr/bin/env bash
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export LD_LIBRARY_PATH=/usr/local/Aria/lib:$LD_LIBRARY_PATH
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source /opt/ros/hydro/setup.bash
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source /home/lab1_5//ws/ws_linux/devel/setup.bash
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[[ -v PIONIER_ID ]] || {
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echo
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echo '!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!';
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echo 'Please set the $PIONIER_ID environment variable.';
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echo '!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!';
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exit -1;
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}
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[[ -v ROS_NAMESPACE ]] || export ROS_NAMESPACE=/PIONIER$PIONIER_ID
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echo
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echo
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echo "ENVIRONMENT CONFIG"
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env | grep -e ROS_MASTER_URI -e ARIA_PORT -e PIONIER_ID -e ROS_NAMESPACE | sed 's/^/ - /'
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echo
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echo
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set -x
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rosrun rosaria RosAria _port:=$ARIA_PORT _tf_prefix:=${ROS_NAMESPACE} &
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rosrun hokuyo_node hokuyo_node _frame_id:="PIONIER${PIONIER_ID}/laser" &
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rosrun tf static_transform_publisher 0.16 0 0 0 0 0 ${ROS_NAMESPACE}/base_link "${ROS_NAMESPACE}/laser" 100
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