ROS Hood Teleop Script
From wikidb
Master Script
Runs on hood.
#!/bin/bash DATE=$(date '+%Y%m%dT%H%M') LOGDIR=~/log case "$1" in start) echo START roscore > $LOGDIR/roscore$DATE.log & sleep 5 pgrep -a roscore rosrun phidgets motor_control_hc > $LOGDIR/motors$DATE.log & sleep 5 pgrep -a motor_control ;; stop) echo STOP killall -SIGINT motor_control_hc killall -SIGINT roscore killall -SIGINT rosmaster ;; esac echo DONE
Client Script
Runs on Adams
#!/bin/bash
DATE=$(date '+%Y%m%dT%H%M')
LOGDIR=~/log
case "$1" in
start)
echo START
roslaunch ~/catkin_ws/launch/teleop.launch > $LOGDIR/teleop$DATE.log &
sleep 5
pgrep -a joy
pgrep -a teleop
;;
stop)
echo STOP
killall -SIGINT teleop_node
killall -SIGINT joy_node
;;
esac
echo DONE
Notes
- Replace scripts with launch files??? See reference below. TBD
- The teleop.launch file is not in the correct location.
- "motor_control_hc" is too long for a pgrep pattern. Didn't see that coming.
- A kill -9 (SIGKILL) will not dump output buffers. SIGINT (interrupt form keyboard) will.
- Open - flush output as it is generated.
- Sleeps are required to ensure that the new process initialized before steps that depend on it are executed.
- Logging standard out may not be help. See ~/.ros/log/latest.
