Difference between revisions of "ROS Hood Teleop Script"
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| − | == Script == | + | == Master Script == |
| + | |||
| + | Runs on hood. | ||
#!/bin/bash | #!/bin/bash | ||
| Line 26: | Line 28: | ||
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 | ||
== Notes == | == 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. | * "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. | * A kill -9 (SIGKILL) will not dump output buffers. SIGINT (interrupt form keyboard) will. | ||
| Line 38: | Line 70: | ||
== References == | == References == | ||
| − | * [http://wiki.ros.org/ROS/Tutorials/Roslaunch%20tips%20for%20larger%20projects ROS Launch] | + | * [http://wiki.ros.org/ROS/Tutorials/Roslaunch%20tips%20for%20larger%20projects ROS Launch] |
* [http://askubuntu.com/questions/420981/how-do-i-save-terminal-output-to-a-file Redirect Output to File] | * [http://askubuntu.com/questions/420981/how-do-i-save-terminal-output-to-a-file Redirect Output to File] | ||
* [http://stackoverflow.com/questions/160924/how-can-i-kill-a-process-by-name-instead-of-pid Kill Process by Name (pattern)] | * [http://stackoverflow.com/questions/160924/how-can-i-kill-a-process-by-name-instead-of-pid Kill Process by Name (pattern)] | ||
* [http://manpages.ubuntu.com/manpages/hardy/man7/signal.7.html Ubuntu Signals] | * [http://manpages.ubuntu.com/manpages/hardy/man7/signal.7.html Ubuntu Signals] | ||
Latest revision as of 14:24, 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
- 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.
