Difference between revisions of "ROS Hood Teleop Script"
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− | == Script == | + | == Master Script == |
+ | |||
+ | Runs on hood. | ||
#!/bin/bash | #!/bin/bash | ||
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esac | 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 | echo DONE | ||
Revision as of 14:21, 30 December 2015
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
- "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.
References
- ROS Launch Replace scripts with launch files??? TBD
- Redirect Output to File
- Kill Process by Name (pattern)
- Ubuntu Signals