From 7c4ff06d3bcbdfd84d081abe29329e4f328a321a Mon Sep 17 00:00:00 2001 From: administrator Date: Thu, 7 May 2026 03:09:52 +0000 Subject: [PATCH] =?UTF-8?q?=E6=9B=B4=E6=96=B0=20run=5Fall.sh?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- run_all.sh | 692 +++++++++++++++++++++++++++-------------------------- 1 file changed, 347 insertions(+), 345 deletions(-) diff --git a/run_all.sh b/run_all.sh index c2995af..4d374a9 100755 --- a/run_all.sh +++ b/run_all.sh @@ -1,345 +1,347 @@ -#!/usr/bin/env bash -set -euo pipefail - -# Unified launcher for TurtleBot3 office workflow: -# - Terminal A: simulation / bridge / (optional SLAM) / RViz -# - Terminal B: Nav2 -# - Optional C: explore_lite -# - Optional websocket + gzweb-demo frontend -# -# Modes: -# mapping : online SLAM mapping -# localization : map-based localization/navigation -# -# Mapping mode interactive commands: -# s : save map and switch to localization mode -# q : stop all -# -# Examples: -# ./run_all.sh mapping --explore --gzweb -# ./run_all.sh localization --gzweb --map /abs/path/office_map.yaml - -ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)" -MODE="${1:-mapping}" -shift || true - -ROBOT_MODEL="${ROBOT_MODEL:-waffle}" -USE_SIM_TIME="${USE_SIM_TIME:-true}" -GZ_PARTITION="${GZ_PARTITION:-tb3_office_gz}" -WORLD_PATH_DEFAULT="${ROOT}/turtlebot3_simulations/turtlebot3_gazebo/worlds/office_gz_dartsim.sdf" -MAP_YAML_DEFAULT="${ROOT}/turtlebot3_simulations/turtlebot3_gazebo/map/office_map.yaml" -MAP_BASENAME_DEFAULT="${ROOT}/turtlebot3_simulations/turtlebot3_gazebo/map/office_map" -SLEEP_NAV2="${SLEEP_NAV2:-18}" -EXPLORE_WAIT_TIMEOUT="${EXPLORE_WAIT_TIMEOUT:-420}" - -WORLD_PATH="${WORLD_PATH:-$WORLD_PATH_DEFAULT}" -MAP_YAML="${NAV2_MAP_PATH:-$MAP_YAML_DEFAULT}" -MAP_BASENAME="${MAP_BASENAME:-$MAP_BASENAME_DEFAULT}" - -WITH_EXPLORE=false -WITH_GZWE`B`=false -NO_RVIZ=false -# 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） -NO_GZWEB_VITE=false - -while [[ $# -gt 0 ]]; do - case "$1" in - --explore) WITH_EXPLORE=true; shift ;; - --gzweb) WITH_GZWEB=true; shift ;; - --no-gzweb-vite) NO_GZWEB_VITE=true; shift ;; - --no-rviz) NO_RVIZ=true; shift ;; - --map) MAP_YAML="$2"; shift 2 ;; - --world) WORLD_PATH="$2"; shift 2 ;; - --help|-h) - cat <<'EOF' -Usage: - ./run_all.sh mapping [--explore] [--gzweb] [--no-gzweb-vite] [--no-rviz] [--world PATH] - ./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 - exit 0 - ;; - *) - echo "[run_all] unknown argument: $1" >&2 - exit 1 - ;; - esac -done - -if [[ "$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 " - ${MAP_BASENAME}.pgm" - echo "[run_all] mapping workflow completed, exiting now." - exit 0 - fi - - cat <&2 + exit 1 + ;; + esac +done + +if [[ "$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 <