更新 run_all.sh
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run_all.sh
692
run_all.sh
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@ -1,345 +1,347 @@
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#!/usr/bin/env bash
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set -euo pipefail
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# Unified launcher for TurtleBot3 office workflow:
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# - Terminal A: simulation / bridge / (optional SLAM) / RViz
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# - Terminal B: Nav2
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# - Optional C: explore_lite
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# - Optional websocket + gzweb-demo frontend
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#
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# Modes:
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# mapping : online SLAM mapping
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# localization : map-based localization/navigation
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#
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# Mapping mode interactive commands:
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# s : save map and switch to localization mode
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# q : stop all
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#
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# Examples:
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# ./run_all.sh mapping --explore --gzweb
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# ./run_all.sh localization --gzweb --map /abs/path/office_map.yaml
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ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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MODE="${1:-mapping}"
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shift || true
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ROBOT_MODEL="${ROBOT_MODEL:-waffle}"
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USE_SIM_TIME="${USE_SIM_TIME:-true}"
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GZ_PARTITION="${GZ_PARTITION:-tb3_office_gz}"
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WORLD_PATH_DEFAULT="${ROOT}/turtlebot3_simulations/turtlebot3_gazebo/worlds/office_gz_dartsim.sdf"
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MAP_YAML_DEFAULT="${ROOT}/turtlebot3_simulations/turtlebot3_gazebo/map/office_map.yaml"
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MAP_BASENAME_DEFAULT="${ROOT}/turtlebot3_simulations/turtlebot3_gazebo/map/office_map"
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SLEEP_NAV2="${SLEEP_NAV2:-18}"
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EXPLORE_WAIT_TIMEOUT="${EXPLORE_WAIT_TIMEOUT:-420}"
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WORLD_PATH="${WORLD_PATH:-$WORLD_PATH_DEFAULT}"
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MAP_YAML="${NAV2_MAP_PATH:-$MAP_YAML_DEFAULT}"
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MAP_BASENAME="${MAP_BASENAME:-$MAP_BASENAME_DEFAULT}"
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WITH_EXPLORE=false
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WITH_GZWE`B`=false
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NO_RVIZ=false
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# 与 --gzweb 同用：只起 gz websocket(9002) 等资源，不起 office 内 npm run dev；页面用镜像内 /opt/gzweb（foundation）
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NO_GZWEB_VITE=false
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while [[ $# -gt 0 ]]; do
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case "$1" in
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--explore) WITH_EXPLORE=true; shift ;;
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--gzweb) WITH_GZWEB=true; shift ;;
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--no-gzweb-vite) NO_GZWEB_VITE=true; shift ;;
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--no-rviz) NO_RVIZ=true; shift ;;
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--map) MAP_YAML="$2"; shift 2 ;;
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--world) WORLD_PATH="$2"; shift 2 ;;
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--help|-h)
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cat <<'EOF'
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Usage:
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./run_all.sh mapping [--explore] [--gzweb] [--no-gzweb-vite] [--no-rviz] [--world PATH]
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./run_all.sh localization [--gzweb] [--no-gzweb-vite] [--no-rviz] [--map PATH] [--world PATH]
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--no-gzweb-vite 需与 --gzweb 同时使用：不启动 workspace 内 gzweb-demo 的 Vite；浏览器用 /opt/gzweb（8000）。
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EOF
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exit 0
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;;
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*)
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echo "[run_all] unknown argument: $1" >&2
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exit 1
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;;
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esac
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done
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if [[ "$MODE" != "mapping" && "$MODE" != "localization" ]]; then
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echo "[run_all] mode must be mapping or localization" >&2
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exit 1
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fi
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if [[ ! -f "$WORLD_PATH" ]]; then
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echo "[run_all] world not found: $WORLD_PATH" >&2
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exit 1
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fi
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if [[ "$MODE" == "localization" && ! -f "$MAP_YAML" ]]; then
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echo "[run_all] map yaml not found: $MAP_YAML" >&2
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exit 1
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fi
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set +u
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source /opt/ros/humble/setup.bash
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# 仅在 install 目录缺失时构建（避免每次启动都重复构建，同时修复未 source ROS 环境导致的 ament_cmake 找不到）
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if [[ ! -d "${ROOT}/install" ]]; then
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colcon build --symlink-install
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fi
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source "${ROOT}/install/setup.bash"
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set -u
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export TURTLEBOT3_MODEL="$ROBOT_MODEL"
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LOG_DIR="${ROOT}/logs/run_all_$(date +%Y%m%d_%H%M%S)"
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mkdir -p "$LOG_DIR"
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mkdir -p "$(dirname "$MAP_BASENAME")"
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PIDS=()
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start_bg() {
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local name="$1"; shift
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local logfile="${LOG_DIR}/${name}.log"
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echo "[run_all] starting ${name} ..."
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"$@" >"$logfile" 2>&1 &
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local pid=$!
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PIDS+=("$pid")
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echo "[run_all] ${name} pid=${pid}, log=${logfile}"
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}
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cleanup() {
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echo "[run_all] stopping all processes..."
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for pid in "${PIDS[@]:-}"; do
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kill "$pid" 2>/dev/null || true
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done
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}
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trap cleanup EXIT INT TERM
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wait_for_topic() {
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local topic="$1"
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local timeout="${2:-60}"
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local i=0
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while (( i < timeout )); do
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if ros2 topic list 2>/dev/null | grep -Fxq "${topic}"; then
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return 0
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fi
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sleep 1
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((i+=1))
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done
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return 1
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}
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wait_for_port() {
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local port="$1"
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local timeout="${2:-30}"
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local i=0
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while (( i < timeout )); do
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if ss -ltn 2>/dev/null | grep -q ":${port} "; then
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return 0
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fi
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sleep 1
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((i+=1))
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done
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return 1
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}
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wait_for_explore_stop_log() {
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local logfile="$1"
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local timeout="${2:-900}"
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local i=0
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while (( i < timeout )); do
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if [[ -f "$logfile" ]] && grep -Eq "All frontiers traversed/tried out, stopping\\.|Exploration stopped\\." "$logfile"; then
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return 0
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fi
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sleep 1
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((i+=1))
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done
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return 1
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}
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wait_for_explore_stop_log_with_timer() {
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local logfile="$1"
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local timeout="${2:-900}"
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local start_ts
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start_ts="$(date +%s)"
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local i=0
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while (( i < timeout )); do
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if [[ -f "$logfile" ]] && grep -Eq "All frontiers traversed/tried out, stopping\\.|Exploration stopped\\." "$logfile"; then
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return 0
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fi
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if (( i % 10 == 0 )); then
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local now_ts elapsed
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now_ts="$(date +%s)"
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elapsed=$(( now_ts - start_ts ))
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echo "[run_all] explore elapsed: ${elapsed}s"
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fi
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sleep 1
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((i+=1))
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done
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return 1
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}
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kill_port_listeners() {
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local port="$1"
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local pids
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pids="$(ss -ltnp 2>/dev/null | grep ":${port} " | sed -E 's/.*pid=([0-9]+).*/\1/' | sort -u || true)"
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if [[ -n "${pids}" ]]; then
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echo "[run_all] port ${port} already in use, killing: ${pids}"
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kill ${pids} 2>/dev/null || true
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sleep 1
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fi
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}
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show_rviz_arg="show_rviz:=true"
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if [[ "$NO_RVIZ" == true ]]; then
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show_rviz_arg="show_rviz:=false"
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fi
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if [[ "$MODE" == "mapping" ]]; then
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start_bg "A_sim" \
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ros2 launch turtlebot3_gazebo turtlebot3_office_gz.launch.py \
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robot_model:="$ROBOT_MODEL" \
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use_sim_time:="$USE_SIM_TIME" \
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start_slam:=true \
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"$show_rviz_arg" \
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gz_partition:="$GZ_PARTITION" \
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gz_world_name:=default \
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world:="$WORLD_PATH"
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else
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start_bg "A_sim" \
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ros2 launch turtlebot3_gazebo turtlebot3_office_gz.launch.py \
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robot_model:="$ROBOT_MODEL" \
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use_sim_time:="$USE_SIM_TIME" \
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start_slam:=false \
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"$show_rviz_arg" \
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gz_partition:="$GZ_PARTITION" \
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gz_world_name:=default \
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world:="$WORLD_PATH"
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fi
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# --gzweb：gz launch(9002) + 可选 office 内 gzweb-demo 的 Vite（5173）。
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# --gzweb --no-gzweb-vite：不起 office Vite；页面用 foundation 已在 /opt/gzweb:8000 起的实例（见 run_all_fix.sh）。
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if [[ "$WITH_GZWEB" == true ]]; then
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export GZ_PARTITION
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OFFICE_MODEL_ROOT="${ROOT}/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office"
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RESOURCE_PATHS=(
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"${HOME}/.gazebo/models"
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"${ROOT}/turtlebot3_simulations/turtlebot3_gazebo/models"
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"${OFFICE_MODEL_ROOT}"
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)
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for d in "${OFFICE_MODEL_ROOT}"/*/materials/scripts "${OFFICE_MODEL_ROOT}"/*/materials/textures; do
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[[ -d "${d}" ]] && RESOURCE_PATHS+=("${d}")
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done
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RESOURCE_PATH_JOINED="$(IFS=:; echo "${RESOURCE_PATHS[*]}")"
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export GZ_SIM_RESOURCE_PATH="${RESOURCE_PATH_JOINED}"
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# Keep compatibility with components resolving textures via legacy lookup vars.
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export GZ_FILE_PATH="${RESOURCE_PATH_JOINED}"
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export GAZEBO_RESOURCE_PATH="${RESOURCE_PATH_JOINED}"
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if [[ "$NO_GZWEB_VITE" != true ]]; then
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if [[ ! -d "${ROOT}/gzweb-demo/gzweb-demo/node_modules/gzweb" ]]; then
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echo "[run_all] gzweb demo dependencies missing, running npm install once..."
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bash -lc "cd '${ROOT}/gzweb-demo/gzweb-demo' && npm install"
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fi
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else
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echo "[run_all] --no-gzweb-vite: skipping office gzweb-demo npm install; use /opt/gzweb (port 8000) for UI."
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fi
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kill_port_listeners 9002
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kill_port_listeners 5173
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echo "[run_all] waiting for /clock before websocket..."
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if wait_for_topic "/clock" 25; then
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start_bg "D_websocket" gz launch "${ROOT}/websocket.sdf"
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if [[ "$NO_GZWEB_VITE" != true ]]; then
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start_bg "E_gzweb_frontend" bash -lc "cd '${ROOT}/gzweb-demo/gzweb-demo' && npm run dev:host"
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echo "[run_all] office gzweb-demo Vite: http://localhost:5173"
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fi
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else
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echo "[run_all] WARN: /clock not detected in time; starting websocket (and optional frontend) anyway."
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start_bg "D_websocket" gz launch "${ROOT}/websocket.sdf"
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if [[ "$NO_GZWEB_VITE" != true ]]; then
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start_bg "E_gzweb_frontend" bash -lc "cd '${ROOT}/gzweb-demo/gzweb-demo' && npm run dev:host"
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fi
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fi
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if wait_for_port 9002 12; then
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echo "[run_all] websocket server ready on ws://localhost:9002"
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else
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echo "[run_all] ERROR: websocket server failed on 9002; check ${LOG_DIR}/D_websocket.log"
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fi
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fi
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echo "[run_all] waiting ${SLEEP_NAV2}s before starting Nav2..."
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sleep "$SLEEP_NAV2"
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if [[ "$MODE" == "mapping" ]]; then
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start_bg "B_nav2" ros2 launch nav2_bringup navigation_launch.py use_sim_time:="$USE_SIM_TIME"
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else
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start_bg "B_nav2" \
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ros2 launch nav2_bringup bringup_launch.py \
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use_sim_time:="$USE_SIM_TIME" \
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map:="$MAP_YAML" \
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slam:=false
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fi
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if [[ "$WITH_EXPLORE" == true && "$MODE" == "mapping" ]]; then
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start_bg "C_explore" ros2 launch explore_lite explore.launch.py use_sim_time:="$USE_SIM_TIME"
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last_index=$(( ${#PIDS[@]} - 1 ))
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EXPLORE_PID="${PIDS[$last_index]}"
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EXPLORE_LOG="${LOG_DIR}/C_explore.log"
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fi
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echo
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echo "[run_all] started. Mode: ${MODE}"
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echo "[run_all] logs: ${LOG_DIR}"
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echo
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if [[ "$MODE" == "mapping" ]]; then
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if [[ "$WITH_GZWEB" == true ]]; then
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if [[ "$NO_GZWEB_VITE" == true ]]; then
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echo "[run_all] UI: foundation /opt/gzweb on port 8000 (no office Vite)."
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elif wait_for_port 5173 25; then
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echo "[run_all] office gzweb-demo ready: http://localhost:5173"
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else
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echo "[run_all] WARN: office gzweb frontend not ready yet, check ${LOG_DIR}/E_gzweb_frontend.log"
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fi
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fi
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if [[ "${WITH_EXPLORE}" == true && -n "${EXPLORE_PID:-}" ]]; then
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echo "[run_all] exploration is running (pid=${EXPLORE_PID}), waiting for stop signal (timeout=${EXPLORE_WAIT_TIMEOUT}s)..."
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if wait_for_explore_stop_log_with_timer "${EXPLORE_LOG}" "${EXPLORE_WAIT_TIMEOUT}"; then
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echo "[run_all] detected exploration stop from log, finalizing explore process..."
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else
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echo "[run_all] WARN: explore stop not detected within timeout; forcing stop and saving current map."
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fi
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kill "${EXPLORE_PID}" 2>/dev/null || true
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wait "${EXPLORE_PID}" 2>/dev/null || true
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echo "[run_all] explore_lite stopped, now saving map."
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fi
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if [[ "${WITH_EXPLORE}" == true ]]; then
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echo "[run_all] auto-saving map to ${MAP_BASENAME}.yaml/.pgm ..."
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ros2 run nav2_map_server map_saver_cli -f "$MAP_BASENAME" --ros-args -p use_sim_time:="$USE_SIM_TIME"
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echo "[run_all] map saved successfully:"
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echo " - ${MAP_BASENAME}.yaml"
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echo " - ${MAP_BASENAME}.pgm"
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echo "[run_all] mapping workflow completed, exiting now."
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exit 0
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fi
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cat <<EOF
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[run_all] Mapping mode notes:
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- RViz 'Localization: inactive' is normal during SLAM mapping.
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- You did not enable --explore, so auto-save/auto-exit is disabled.
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- Press Ctrl+C when you want to stop all.
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EOF
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wait
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else
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echo "[run_all] Localization mode: RViz Localization should become active after initial pose."
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echo "[run_all] Keep this terminal running; Ctrl+C to stop all."
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wait
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fi
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#!/usr/bin/env bash
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set -euo pipefail
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export DISPLAY=:1
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# Unified launcher for TurtleBot3 office workflow:
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# - Terminal A: simulation / bridge / (optional SLAM) / RViz
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# - Terminal B: Nav2
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# - Optional C: explore_lite
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# - Optional websocket + gzweb-demo frontend
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#
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# Modes:
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# mapping : online SLAM mapping
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# localization : map-based localization/navigation
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#
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# Mapping mode interactive commands:
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# s : save map and switch to localization mode
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# q : stop all
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#
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# Examples:
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# ./run_all.sh mapping --explore --gzweb
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# ./run_all.sh localization --gzweb --map /abs/path/office_map.yaml
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ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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MODE="${1:-mapping}"
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shift || true
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ROBOT_MODEL="${ROBOT_MODEL:-waffle}"
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USE_SIM_TIME="${USE_SIM_TIME:-true}"
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GZ_PARTITION="${GZ_PARTITION:-tb3_office_gz}"
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WORLD_PATH_DEFAULT="${ROOT}/turtlebot3_simulations/turtlebot3_gazebo/worlds/office_gz_dartsim.sdf"
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MAP_YAML_DEFAULT="${ROOT}/turtlebot3_simulations/turtlebot3_gazebo/map/office_map.yaml"
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MAP_BASENAME_DEFAULT="${ROOT}/turtlebot3_simulations/turtlebot3_gazebo/map/office_map"
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SLEEP_NAV2="${SLEEP_NAV2:-18}"
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EXPLORE_WAIT_TIMEOUT="${EXPLORE_WAIT_TIMEOUT:-420}"
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WORLD_PATH="${WORLD_PATH:-$WORLD_PATH_DEFAULT}"
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MAP_YAML="${NAV2_MAP_PATH:-$MAP_YAML_DEFAULT}"
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MAP_BASENAME="${MAP_BASENAME:-$MAP_BASENAME_DEFAULT}"
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WITH_EXPLORE=false
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WITH_GZWE=false
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NO_RVIZ=false
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# 与 --gzweb 同用：只起 gz websocket(9002) 等资源，不起 office 内 npm run dev；页面用镜像内 /opt/gzweb（foundation）
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NO_GZWEB_VITE=false
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while [[ $# -gt 0 ]]; do
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case "$1" in
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--explore) WITH_EXPLORE=true; shift ;;
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--gzweb) WITH_GZWEB=true; shift ;;
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--no-gzweb-vite) NO_GZWEB_VITE=true; shift ;;
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--no-rviz) NO_RVIZ=true; shift ;;
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--map) MAP_YAML="$2"; shift 2 ;;
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--world) WORLD_PATH="$2"; shift 2 ;;
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--help|-h)
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cat <<'EOF'
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Usage:
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./run_all.sh mapping [--explore] [--gzweb] [--no-gzweb-vite] [--no-rviz] [--world PATH]
|
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./run_all.sh localization [--gzweb] [--no-gzweb-vite] [--no-rviz] [--map PATH] [--world PATH]
|
||||
|
||||
--no-gzweb-vite 需与 --gzweb 同时使用：不启动 workspace 内 gzweb-demo 的 Vite；浏览器用 /opt/gzweb（8000）。
|
||||
EOF
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exit 0
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;;
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*)
|
||||
echo "[run_all] unknown argument: $1" >&2
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||||
exit 1
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||||
;;
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||||
esac
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done
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||||
|
||||
if [[ "$MODE" != "mapping" && "$MODE" != "localization" ]]; then
|
||||
echo "[run_all] mode must be mapping or localization" >&2
|
||||
exit 1
|
||||
fi
|
||||
|
||||
if [[ ! -f "$WORLD_PATH" ]]; then
|
||||
echo "[run_all] world not found: $WORLD_PATH" >&2
|
||||
exit 1
|
||||
fi
|
||||
|
||||
if [[ "$MODE" == "localization" && ! -f "$MAP_YAML" ]]; then
|
||||
echo "[run_all] map yaml not found: $MAP_YAML" >&2
|
||||
exit 1
|
||||
fi
|
||||
|
||||
set +u
|
||||
source /opt/ros/humble/setup.bash
|
||||
|
||||
# 仅在 install 目录缺失时构建（避免每次启动都重复构建，同时修复未 source ROS 环境导致的 ament_cmake 找不到）
|
||||
if [[ ! -d "${ROOT}/install" ]]; then
|
||||
colcon build --symlink-install
|
||||
fi
|
||||
|
||||
source "${ROOT}/install/setup.bash"
|
||||
set -u
|
||||
export TURTLEBOT3_MODEL="$ROBOT_MODEL"
|
||||
|
||||
LOG_DIR="${ROOT}/logs/run_all_$(date +%Y%m%d_%H%M%S)"
|
||||
mkdir -p "$LOG_DIR"
|
||||
mkdir -p "$(dirname "$MAP_BASENAME")"
|
||||
|
||||
PIDS=()
|
||||
|
||||
start_bg() {
|
||||
local name="$1"; shift
|
||||
local logfile="${LOG_DIR}/${name}.log"
|
||||
echo "[run_all] starting ${name} ..."
|
||||
"$@" >"$logfile" 2>&1 &
|
||||
local pid=$!
|
||||
PIDS+=("$pid")
|
||||
echo "[run_all] ${name} pid=${pid}, log=${logfile}"
|
||||
}
|
||||
|
||||
cleanup() {
|
||||
echo "[run_all] stopping all processes..."
|
||||
for pid in "${PIDS[@]:-}"; do
|
||||
kill "$pid" 2>/dev/null || true
|
||||
done
|
||||
}
|
||||
trap cleanup EXIT INT TERM
|
||||
|
||||
wait_for_topic() {
|
||||
local topic="$1"
|
||||
local timeout="${2:-60}"
|
||||
local i=0
|
||||
while (( i < timeout )); do
|
||||
if ros2 topic list 2>/dev/null | grep -Fxq "${topic}"; then
|
||||
return 0
|
||||
fi
|
||||
sleep 1
|
||||
((i+=1))
|
||||
done
|
||||
return 1
|
||||
}
|
||||
|
||||
wait_for_port() {
|
||||
local port="$1"
|
||||
local timeout="${2:-30}"
|
||||
local i=0
|
||||
while (( i < timeout )); do
|
||||
if ss -ltn 2>/dev/null | grep -q ":${port} "; then
|
||||
return 0
|
||||
fi
|
||||
sleep 1
|
||||
((i+=1))
|
||||
done
|
||||
return 1
|
||||
}
|
||||
|
||||
wait_for_explore_stop_log() {
|
||||
local logfile="$1"
|
||||
local timeout="${2:-900}"
|
||||
local i=0
|
||||
while (( i < timeout )); do
|
||||
if [[ -f "$logfile" ]] && grep -Eq "All frontiers traversed/tried out, stopping\\.|Exploration stopped\\." "$logfile"; then
|
||||
return 0
|
||||
fi
|
||||
sleep 1
|
||||
((i+=1))
|
||||
done
|
||||
return 1
|
||||
}
|
||||
|
||||
wait_for_explore_stop_log_with_timer() {
|
||||
local logfile="$1"
|
||||
local timeout="${2:-900}"
|
||||
local start_ts
|
||||
start_ts="$(date +%s)"
|
||||
local i=0
|
||||
while (( i < timeout )); do
|
||||
if [[ -f "$logfile" ]] && grep -Eq "All frontiers traversed/tried out, stopping\\.|Exploration stopped\\." "$logfile"; then
|
||||
return 0
|
||||
fi
|
||||
if (( i % 10 == 0 )); then
|
||||
local now_ts elapsed
|
||||
now_ts="$(date +%s)"
|
||||
elapsed=$(( now_ts - start_ts ))
|
||||
echo "[run_all] explore elapsed: ${elapsed}s"
|
||||
fi
|
||||
sleep 1
|
||||
((i+=1))
|
||||
done
|
||||
return 1
|
||||
}
|
||||
|
||||
kill_port_listeners() {
|
||||
local port="$1"
|
||||
local pids
|
||||
pids="$(ss -ltnp 2>/dev/null | grep ":${port} " | sed -E 's/.*pid=([0-9]+).*/\1/' | sort -u || true)"
|
||||
if [[ -n "${pids}" ]]; then
|
||||
echo "[run_all] port ${port} already in use, killing: ${pids}"
|
||||
kill ${pids} 2>/dev/null || true
|
||||
sleep 1
|
||||
fi
|
||||
}
|
||||
|
||||
show_rviz_arg="show_rviz:=true"
|
||||
if [[ "$NO_RVIZ" == true ]]; then
|
||||
show_rviz_arg="show_rviz:=false"
|
||||
fi
|
||||
|
||||
if [[ "$MODE" == "mapping" ]]; then
|
||||
start_bg "A_sim" \
|
||||
ros2 launch turtlebot3_gazebo turtlebot3_office_gz.launch.py \
|
||||
robot_model:="$ROBOT_MODEL" \
|
||||
use_sim_time:="$USE_SIM_TIME" \
|
||||
start_slam:=true \
|
||||
"$show_rviz_arg" \
|
||||
gz_partition:="$GZ_PARTITION" \
|
||||
gz_world_name:=default \
|
||||
world:="$WORLD_PATH"
|
||||
else
|
||||
start_bg "A_sim" \
|
||||
ros2 launch turtlebot3_gazebo turtlebot3_office_gz.launch.py \
|
||||
robot_model:="$ROBOT_MODEL" \
|
||||
use_sim_time:="$USE_SIM_TIME" \
|
||||
start_slam:=false \
|
||||
"$show_rviz_arg" \
|
||||
gz_partition:="$GZ_PARTITION" \
|
||||
gz_world_name:=default \
|
||||
world:="$WORLD_PATH"
|
||||
fi
|
||||
|
||||
# --gzweb：gz launch(9002) + 可选 office 内 gzweb-demo 的 Vite（5173）。
|
||||
# --gzweb --no-gzweb-vite：不起 office Vite；页面用 foundation 已在 /opt/gzweb:8000 起的实例（见 run_all_fix.sh）。
|
||||
if [[ "$WITH_GZWEB" == true ]]; then
|
||||
export GZ_PARTITION
|
||||
OFFICE_MODEL_ROOT="${ROOT}/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office"
|
||||
RESOURCE_PATHS=(
|
||||
"${HOME}/.gazebo/models"
|
||||
"${ROOT}/turtlebot3_simulations/turtlebot3_gazebo/models"
|
||||
"${OFFICE_MODEL_ROOT}"
|
||||
)
|
||||
for d in "${OFFICE_MODEL_ROOT}"/*/materials/scripts "${OFFICE_MODEL_ROOT}"/*/materials/textures; do
|
||||
[[ -d "${d}" ]] && RESOURCE_PATHS+=("${d}")
|
||||
done
|
||||
RESOURCE_PATH_JOINED="$(IFS=:; echo "${RESOURCE_PATHS[*]}")"
|
||||
export GZ_SIM_RESOURCE_PATH="${RESOURCE_PATH_JOINED}"
|
||||
# Keep compatibility with components resolving textures via legacy lookup vars.
|
||||
export GZ_FILE_PATH="${RESOURCE_PATH_JOINED}"
|
||||
export GAZEBO_RESOURCE_PATH="${RESOURCE_PATH_JOINED}"
|
||||
|
||||
if [[ "$NO_GZWEB_VITE" != true ]]; then
|
||||
if [[ ! -d "${ROOT}/gzweb-demo/gzweb-demo/node_modules/gzweb" ]]; then
|
||||
echo "[run_all] gzweb demo dependencies missing, running npm install once..."
|
||||
bash -lc "cd '${ROOT}/gzweb-demo/gzweb-demo' && npm install"
|
||||
fi
|
||||
else
|
||||
echo "[run_all] --no-gzweb-vite: skipping office gzweb-demo npm install; use /opt/gzweb (port 8000) for UI."
|
||||
fi
|
||||
|
||||
kill_port_listeners 9002
|
||||
kill_port_listeners 5173
|
||||
|
||||
echo "[run_all] waiting for /clock before websocket..."
|
||||
if wait_for_topic "/clock" 25; then
|
||||
start_bg "D_websocket" gz launch "${ROOT}/websocket.sdf"
|
||||
if [[ "$NO_GZWEB_VITE" != true ]]; then
|
||||
start_bg "E_gzweb_frontend" bash -lc "cd '${ROOT}/gzweb-demo/gzweb-demo' && npm run dev:host"
|
||||
echo "[run_all] office gzweb-demo Vite: http://localhost:5173"
|
||||
fi
|
||||
else
|
||||
echo "[run_all] WARN: /clock not detected in time; starting websocket (and optional frontend) anyway."
|
||||
start_bg "D_websocket" gz launch "${ROOT}/websocket.sdf"
|
||||
if [[ "$NO_GZWEB_VITE" != true ]]; then
|
||||
start_bg "E_gzweb_frontend" bash -lc "cd '${ROOT}/gzweb-demo/gzweb-demo' && npm run dev:host"
|
||||
fi
|
||||
fi
|
||||
|
||||
if wait_for_port 9002 12; then
|
||||
echo "[run_all] websocket server ready on ws://localhost:9002"
|
||||
else
|
||||
echo "[run_all] ERROR: websocket server failed on 9002; check ${LOG_DIR}/D_websocket.log"
|
||||
fi
|
||||
fi
|
||||
|
||||
echo "[run_all] waiting ${SLEEP_NAV2}s before starting Nav2..."
|
||||
sleep "$SLEEP_NAV2"
|
||||
|
||||
if [[ "$MODE" == "mapping" ]]; then
|
||||
start_bg "B_nav2" ros2 launch nav2_bringup navigation_launch.py use_sim_time:="$USE_SIM_TIME"
|
||||
else
|
||||
start_bg "B_nav2" \
|
||||
ros2 launch nav2_bringup bringup_launch.py \
|
||||
use_sim_time:="$USE_SIM_TIME" \
|
||||
map:="$MAP_YAML" \
|
||||
slam:=false
|
||||
fi
|
||||
|
||||
if [[ "$WITH_EXPLORE" == true && "$MODE" == "mapping" ]]; then
|
||||
start_bg "C_explore" ros2 launch explore_lite explore.launch.py use_sim_time:="$USE_SIM_TIME"
|
||||
last_index=$(( ${#PIDS[@]} - 1 ))
|
||||
EXPLORE_PID="${PIDS[$last_index]}"
|
||||
EXPLORE_LOG="${LOG_DIR}/C_explore.log"
|
||||
fi
|
||||
|
||||
echo
|
||||
echo "[run_all] started. Mode: ${MODE}"
|
||||
echo "[run_all] logs: ${LOG_DIR}"
|
||||
echo
|
||||
|
||||
if [[ "$MODE" == "mapping" ]]; then
|
||||
if [[ "$WITH_GZWEB" == true ]]; then
|
||||
if [[ "$NO_GZWEB_VITE" == true ]]; then
|
||||
echo "[run_all] UI: foundation /opt/gzweb on port 8000 (no office Vite)."
|
||||
elif wait_for_port 5173 25; then
|
||||
echo "[run_all] office gzweb-demo ready: http://localhost:5173"
|
||||
else
|
||||
echo "[run_all] WARN: office gzweb frontend not ready yet, check ${LOG_DIR}/E_gzweb_frontend.log"
|
||||
fi
|
||||
fi
|
||||
|
||||
if [[ "${WITH_EXPLORE}" == true && -n "${EXPLORE_PID:-}" ]]; then
|
||||
echo "[run_all] exploration is running (pid=${EXPLORE_PID}), waiting for stop signal (timeout=${EXPLORE_WAIT_TIMEOUT}s)..."
|
||||
if wait_for_explore_stop_log_with_timer "${EXPLORE_LOG}" "${EXPLORE_WAIT_TIMEOUT}"; then
|
||||
echo "[run_all] detected exploration stop from log, finalizing explore process..."
|
||||
else
|
||||
echo "[run_all] WARN: explore stop not detected within timeout; forcing stop and saving current map."
|
||||
fi
|
||||
kill "${EXPLORE_PID}" 2>/dev/null || true
|
||||
wait "${EXPLORE_PID}" 2>/dev/null || true
|
||||
echo "[run_all] explore_lite stopped, now saving map."
|
||||
fi
|
||||
|
||||
if [[ "${WITH_EXPLORE}" == true ]]; then
|
||||
echo "[run_all] auto-saving map to ${MAP_BASENAME}.yaml/.pgm ..."
|
||||
ros2 run nav2_map_server map_saver_cli -f "$MAP_BASENAME" --ros-args -p use_sim_time:="$USE_SIM_TIME"
|
||||
echo "[run_all] map saved successfully:"
|
||||
echo " - ${MAP_BASENAME}.yaml"
|
||||
echo " - ${MAP_BASENAME}.pgm"
|
||||
echo "[run_all] mapping workflow completed, exiting now."
|
||||
exit 0
|
||||
fi
|
||||
|
||||
cat <<EOF
|
||||
[run_all] Mapping mode notes:
|
||||
- RViz 'Localization: inactive' is normal during SLAM mapping.
|
||||
- You did not enable --explore, so auto-save/auto-exit is disabled.
|
||||
- Press Ctrl+C when you want to stop all.
|
||||
EOF
|
||||
wait
|
||||
else
|
||||
echo "[run_all] Localization mode: RViz Localization should become active after initial pose."
|
||||
echo "[run_all] Keep this terminal running; Ctrl+C to stop all."
|
||||
wait
|
||||
fi
|
||||
|
|
|
|||
Loading…
Reference in New Issue