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Merge pull request #32 from rosflight/27-startup-script
Merged start up script into main
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| #!/bin/bash | ||
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| # Function to print help instructions | ||
| print_help() { | ||
| usage | ||
| echo | ||
| echo "Options:" | ||
| echo " -h Show this help message and exit" | ||
| echo " -s Run as simulation of ROSflight" | ||
| echo " -t Run tuning version of ROSflight" | ||
| echo " -r Run the script with simulated transmitter" | ||
| echo " -a Aircraft option to pass to launch files" | ||
| echo " aircraft The aircraft parameter to be used in launch files, default is anaconda" | ||
| echo " -b Start a ROS bag" | ||
| echo " bag_name Name of the ROS bag (optional)" | ||
| echo " -o Run the tmux session online (on remote host)" | ||
| echo " user@host Username and address of remote" | ||
| echo " -d Indicate that you should run a docker container of the given name (uses compose, and compose file should be in workspce directory)" | ||
| echo " container Name of container" | ||
| echo " path/to/workspace Path to workspace" | ||
| } | ||
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| usage() { | ||
| echo "Usage: $0 [-h] [-s] [-t] [-r] [-a aircraft] [-b [bag_name]] [-o user@host] [-d docker_container_name] path/to/ROSflight/workspace" | ||
| } | ||
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| sim=false | ||
| tuning=false | ||
| rc_sim=false | ||
| aircraft='anaconda' | ||
| online=false | ||
| docker=false | ||
| bag=false | ||
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| # Parse options using getopts | ||
| while getopts ":hstra:b:o:d:" opt; do | ||
| case $opt in | ||
| h) | ||
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| print_help | ||
| exit 0 | ||
| ;; | ||
| s) | ||
| sim=true | ||
| ;; | ||
| t) | ||
| tuning=true | ||
| ;; | ||
| r) | ||
| rc_sim=true | ||
| if ! $sim; then | ||
| echo "Cannot run simulated transitter, while not running a simulation." | ||
| exit 1 | ||
| fi | ||
| ;; | ||
| a) | ||
| aircraft=$OPTARG | ||
| ;; | ||
| b) | ||
| bag=true | ||
| bag_name=$OPTARG | ||
| ;; | ||
| o) | ||
| online=true | ||
| user_host=$OPTARG | ||
| if $sim; then | ||
| echo "Cannot run simulator on a remote." | ||
| exit 1 | ||
| fi | ||
| ;; | ||
| d) | ||
| docker=true | ||
| container=$OPTARG | ||
| if ! $online; then | ||
| echo "Running docker on the local machine is not supported currently." | ||
| fi | ||
| ;; | ||
| \?) | ||
| echo "Invalid option: -$OPTARG" >&2 | ||
| print_help | ||
| exit 1 | ||
| ;; | ||
| esac | ||
| done | ||
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| shift $((OPTIND -1)) | ||
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| # Get the file path | ||
| filepath=$1 | ||
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| # Check if filepath is provided | ||
| if [ -z "$filepath" ]; then | ||
| echo "Absolute/relative file path is required" | ||
| print_help | ||
| fi | ||
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| # Create a new tmux session | ||
| tmux new-session -d -s rosplane_sim_session | ||
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| # Uncomment this line if you want to use your own tmux config | ||
| # tmux source-file ~/.tmux.conf | ||
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| # Split the tmux window into 4 panes | ||
| tmux split-window -t rosplane_sim_session:0.0 -h | ||
| tmux split-window -t rosplane_sim_session:0.0 -v | ||
| tmux split-window -t rosplane_sim_session:0.2 -v | ||
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| # Arrange panes in each corner | ||
| tmux select-pane -t rosplane_sim_session:0.0 | ||
| tmux select-pane -t rosplane_sim_session:0.1 | ||
| tmux select-pane -t rosplane_sim_session:0.2 | ||
| tmux select-pane -t rosplane_sim_session:0.3 | ||
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| # Window placement reference: | ||
| # rosplane_sim_session:0.0 Top Left | ||
| # rosplane_sim_session:0.1 Bottom Left | ||
| # rosplane_sim_session:0.2 Top Right | ||
| # rosplane_sim_session:0.3 Bottom Right | ||
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| # Setup all panes to ssh into the remote | ||
| if $online; then | ||
| tmux send-keys -t rosplane_sim_session:0.0 "ssh $user_host" C-m | ||
| tmux send-keys -t rosplane_sim_session:0.1 "ssh $user_host" C-m | ||
| tmux send-keys -t rosplane_sim_session:0.2 "ssh $user_host" C-m | ||
| tmux send-keys -t rosplane_sim_session:0.3 "ssh $user_host" C-m | ||
| fi | ||
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| # Send all of the panes to the working directory. | ||
| tmux send-keys -t rosplane_sim_session:0.0 "cd $filepath" C-m | ||
| tmux send-keys -t rosplane_sim_session:0.1 "cd $filepath" C-m | ||
| tmux send-keys -t rosplane_sim_session:0.2 "cd $filepath" C-m | ||
| tmux send-keys -t rosplane_sim_session:0.3 "cd $filepath" C-m | ||
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| # The docker commands assume that the container uses -it commands to create a persistent terminal. | ||
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| if $docker; then | ||
| tmux send-keys -t rosplane_sim_session:0.0 "docker compose up -d" C-m | ||
| sleep 2 | ||
| tmux send-keys -t rosplane_sim_session:0.0 "docker compose exec $container bash" C-m | ||
| tmux send-keys -t rosplane_sim_session:0.1 "docker compose exec $container bash" C-m | ||
| tmux send-keys -t rosplane_sim_session:0.2 "docker compose exec $container bash" C-m | ||
| tmux send-keys -t rosplane_sim_session:0.3 "docker compose exec $container bash" C-m | ||
| fi | ||
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| # Send commands to run the sim. | ||
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| if $sim; then | ||
| tmux send-keys -t rosplane_sim_session:0.0 "ros2 launch rosflight_sim fixedwing_sim_io_joy.launch.py aircraft:=$aircraft" C-m | ||
| else | ||
| tmux send-keys -t rosplane_sim_session:0.0 "ros2 run rosflight_io rosflight_io --ros-args -p port:=/dev/ttyACM0" C-m | ||
| fi | ||
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| if $tuning; then | ||
| if $sim; then | ||
| tmux send-keys -t rosplane_sim_session:0.2 "ros2 launch rosplane_sim sim_tuning.launch.py aircraft:=$aircraft" C-m | ||
| else | ||
| tmux send-keys -t rosplane_sim_session:0.2 "ros2 launch rosplane_tuning rosplane_tuning.launch.py aircraft:=$aircraft" C-m | ||
| fi | ||
| elif $sim; then | ||
| tmux send-keys -t rosplane_sim_session:0.2 "ros2 launch rosplane_sim sim.launch.py aircraft:=$aircraft" C-m | ||
| else | ||
| tmux send-keys -t rosplane_sim_session:0.2 "ros2 launch rosplane rosplane.launch.py aircraft:=$aircraft" C-m | ||
| fi | ||
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| # Check to see if rc_sim has been passed an arg | ||
| if $rc_sim; then | ||
| tmux send-keys -t rosplane_sim_session:0.3 'ros2 run rosflight_sim rc_sim.py --ros-args --remap RC:=/fixedwing/RC' C-m | ||
| fi | ||
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| if $sim; then | ||
| sleep 3 # It doesn't look like there is a clear way to do this better. This will have to do. | ||
| tmux send-keys -t rosplane_sim_session:0.1 'ros2 service call /calibrate_imu std_srvs/srv/Trigger' C-m | ||
| fi | ||
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| if $bag; then | ||
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| if $online; then | ||
| tmux send-keys -t rosplane_sim_session:0.3 "cd bags" C-m | ||
| fi | ||
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| if [ ! -z $bag_name ]; then | ||
| tmux send-keys -t rosplane_sim_session:0.3 "ros2 bag record -a -o $bag_name" C-m | ||
| else | ||
| tmux send-keys -t rosplane_sim_session:0.3 "ros2 bag record -a" C-m | ||
| fi | ||
| fi | ||
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| # Create another window that is on the local machine. | ||
| if $online; then | ||
| tmux new-window -t rosplane_sim_session -n local_env | ||
| fi | ||
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| # Attach to the tmux session | ||
| tmux attach-session -t rosplane_sim_session | ||
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