From 320514dc311c7cff2eed930b63abf565a6d9049d Mon Sep 17 00:00:00 2001
From: Markus Grotz <grotz@uw.edu>
Date: Fri, 9 Feb 2024 15:15:06 -0800
Subject: [PATCH] add launch scripts

---
 launch_scripts/launch_aurmr.sh      | 41 +++++++++++++++++++++++++++++
 launch_scripts/launch_aurmr_core.sh | 19 +++++++++++++
 2 files changed, 60 insertions(+)
 create mode 100755 launch_scripts/launch_aurmr.sh
 create mode 100755 launch_scripts/launch_aurmr_core.sh

diff --git a/launch_scripts/launch_aurmr.sh b/launch_scripts/launch_aurmr.sh
new file mode 100755
index 0000000..d339bbc
--- /dev/null
+++ b/launch_scripts/launch_aurmr.sh
@@ -0,0 +1,41 @@
+#!/bin/bash -e
+
+
+echo "Please make sure that roscore is launched using launch_aurmr_core.sh"
+
+echo "starting robot ..."
+ssh emmons tmux new-session -d -s aurmr-emmons
+ssh emmons tmux send-keys -t aurmr-emmons:0 "activate\ ToF"  C-m
+ssh emmons tmux send-keys -t aurmr-emmons:0 "roslaunch\ tahoma_bringup\ tahoma_bringup.launch\ gui:=False" C-m
+sleep 1
+echo -n "done"
+echo ""
+
+echo "starting perception ..."
+tmux new-session -d -s aurmr-inter
+ssh inter tmux send-keys -t aurmr-inter:0 "activate\ aurmr_demo_perception"  C-m
+ssh inter tmux send-keys -t aurmr-inter:0 "roslaunch\ aurmr_perception\ aurmr_perception_clustering.launch\ grasp_type:=centroid" C-m
+sleep 1
+echo -n "done"
+echo ""
+
+echo "starting statemachine ..."
+ssh emmons tmux new-window -t aurmr-emmons
+ssh emmons tmux send-keys -t aurmr-emmons:1 "activate\ ToF"  C-m
+ssh emmons tmux send-keys -t aurmr-emmons:1 "cd\ /home/aurmr/workspaces/ToF/src/aurmr_tahoma/aurmr_tasks/scripts" C-m
+ssh emmons tmux send-keys -t aurmr-emmons:1 "python\ aurmr_demo"
+sleep 3
+ssh emmons tmux send-keys -t aurmr-emmons:1 "C-m"
+echo -n "done"
+echo ""
+
+
+echo "starting stowing script ..."
+ssh inter tmux split-window -t aurmr-inter
+ssh inter tmux send-keys -t aurmr-inter:0 "activate\ aurmr_demo_perception"  C-m
+ssh inter tmux send-keys -t aurmr-inter:0 "cd\ /home/aurmr/workspaces/aurmr_demo_perception" C-m
+ssh inter tmux send-keys -t aurmr-inter:0 "./simple_pick_and_stow_cli.py\ stow"
+echo -n "done"
+echo ""
+
+tmux att
diff --git a/launch_scripts/launch_aurmr_core.sh b/launch_scripts/launch_aurmr_core.sh
new file mode 100755
index 0000000..76914a3
--- /dev/null
+++ b/launch_scripts/launch_aurmr_core.sh
@@ -0,0 +1,19 @@
+#!/bin/bash -e
+
+
+
+echo "starting roscore ..."
+tmux new-session -d -s aurmr-inter-core
+tmux send-keys -t aurmr-inter-core:0 "activate aurmr_demo_perception"  C-m
+tmux send-keys -t aurmr-inter-core:0 "roscore" C-m
+
+sleep 1
+echo -n "done"
+
+echo "starting azure kinect ..."
+tmux new-window -t aurmr-inter-core
+tmux send-keys -t aurmr-inter-core:1 "activate aurmr_demo_perception"  C-m
+tmux send-keys -t aurmr-inter-core:1 "roslaunch azure_kinect_ros_driver driver.launch point_cloud:=True" C-m
+echo -n "done"
+
+tmux att