24 lines
799 B
Bash
Executable File
24 lines
799 B
Bash
Executable File
#!/usr/bin/env bash
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set -euo pipefail
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# Gazebo Sim 8 + gz-launch WebSocket :9002 for gzweb.
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# Uses office_gz_dartsim.sdf (mesh collisions stripped; dartsim-safe) so the full office scene renders.
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ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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WORLD="${ROOT}/turtlebot3_simulations/turtlebot3_gazebo/worlds/office_gz_dartsim.sdf"
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WS_CONFIG="${ROOT}/websocket.sdf"
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PHYSICS="${PHYSICS_ENGINE:-gz-physics-dartsim-plugin}"
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export GZ_SIM_RESOURCE_PATH="${HOME}/.gazebo/models:${ROOT}/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office:${ROOT}/turtlebot3_simulations/turtlebot3_gazebo/models"
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gz sim -s -r --physics-engine "${PHYSICS}" "${WORLD}" &
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SIM_PID=$!
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cleanup() {
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kill "${SIM_PID}" 2>/dev/null || true
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}
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trap cleanup EXIT INT TERM
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sleep 2
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exec gz launch "${WS_CONFIG}"
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