53 lines
1.3 KiB
Bash
Executable File
53 lines
1.3 KiB
Bash
Executable File
#!/bin/bash
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set -eo pipefail
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source /opt/ros/humble/setup.bash
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source /workspaces/vlm_office/install/setup.bash
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export TURTLEBOT3_MODEL="${TURTLEBOT3_MODEL:-burger}"
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export GZ_SIM_RESOURCE_PATH="/workspaces/vlm_office/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_office:/workspaces/vlm_office/src/turtlebot3_simulations/turtlebot3_gazebo/models${GZ_SIM_RESOURCE_PATH:+:$GZ_SIM_RESOURCE_PATH}"
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HEADLESS="${HEADLESS:-false}"
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ENABLE_RVIZ="${ENABLE_RVIZ:-true}"
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PIDS=()
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cleanup() {
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for pid in "${PIDS[@]:-}"; do
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kill "$pid" 2>/dev/null || true
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done
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wait || true
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}
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trap cleanup EXIT INT TERM
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# Gazebo Sim 8 + TurtleBot3 + ros_gz_bridge (same ROS topics as Classic: /scan /odom /cmd_vel /tf /clock)
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ros2 launch turtlebot3_gazebo turtlebot3_office_gz.launch.py \
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robot_model:="$TURTLEBOT3_MODEL" \
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x_pose:=0.0 y_pose:=0.0 use_sim_time:=true headless:="$HEADLESS" \
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show_rviz:=false start_slam:=false &
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PIDS+=($!)
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sleep 14
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ros2 launch nav2_bringup navigation_launch.py use_sim_time:=True &
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PIDS+=($!)
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sleep 10
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ros2 launch slam_toolbox online_async_launch.py use_sim_time:=True &
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PIDS+=($!)
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sleep 10
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if [ "$ENABLE_RVIZ" = "true" ]; then
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ros2 run rviz2 rviz2 -d /opt/ros/humble/share/nav2_bringup/rviz/nav2_default_view.rviz &
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PIDS+=($!)
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sleep 3
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fi
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ros2 launch explore_lite explore.launch.py use_sim_time:=true &
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PIDS+=($!)
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wait
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