25 lines
1.2 KiB
Bash
Executable File
25 lines
1.2 KiB
Bash
Executable File
#!/usr/bin/env bash
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source /opt/ros/humble/setup.bash
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source /workspace/install/setup.bash
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echo "[restart] Killing old processes..."
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pkill -f "explore_lite/lib/explore_lite" 2>/dev/null || true
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pkill -f "nav2_smoother/smoother_server" 2>/dev/null || true
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pkill -f "nav2_behaviors/behavior_server" 2>/dev/null || true
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pkill -f "nav2_waypoint_follower/waypoint_follower" 2>/dev/null || true
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pkill -f "nav2_velocity_smoother/velocity_smoother" 2>/dev/null || true
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pkill -f "nav2_controller/controller_server" 2>/dev/null || true
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pkill -f "nav2_planner/planner_server" 2>/dev/null || true
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pkill -f "nav2_bt_navigator/bt_navigator" 2>/dev/null || true
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pkill -f "nav2_lifecycle_manager/lifecycle_manager" 2>/dev/null || true
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sleep 2
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echo "[restart] Starting Nav2 with fast params..."
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nohup ros2 launch nav2_bringup navigation_launch.py use_sim_time:=true params_file:=/workspace/nav2_params_fast.yaml > /tmp/nav2.log 2>&1 &
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echo "[restart] Starting explore_lite with fast params..."
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nohup ros2 launch explore_lite explore.launch.py use_sim_time:=true > /tmp/explore.log 2>&1 &
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echo "[restart] Done. Logs: /tmp/nav2.log /tmp/explore.log"
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echo "[restart] Verify in 5s with: ros2 node list | grep -E \"explore|nav2\""
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