57 lines
1.9 KiB
Bash
Executable File
57 lines
1.9 KiB
Bash
Executable File
#!/usr/bin/env bash
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# GzWeb 仓库场景 — Gazebo Sim + gz-launch :9002（GzWeb 连 wss://同域/gzbridge/）
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set -euo pipefail
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ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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sleep 3
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export PATH="/usr/bin:/bin:/opt/ros/humble/bin:${PATH}"
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export LIBGL_ALWAYS_SOFTWARE=1
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export QT_QPA_PLATFORM=offscreen
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set +u
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source /opt/ros/humble/setup.bash
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[[ -f "${ROOT}/install/setup.bash" ]] && source "${ROOT}/install/setup.bash"
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set -u
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LOG_DIR="${ROOT}/autorun_logs/autorun_$(date +%Y%m%d_%H%M%S)"
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mkdir -p "$LOG_DIR"
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pkill -f 'gz launch.*websocket' 2>/dev/null || true
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pkill -f 'gz-launch.*websocket' 2>/dev/null || true
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sleep 1
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echo "[autorun] launching warehouse Gazebo Sim ..."
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ros2 launch bcr_bot gz.launch.py > "${LOG_DIR}/warehouse_gzsim.log" 2>&1 &
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GZSIM_PID=$!
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sleep 15
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if ! ps -p "$GZSIM_PID" > /dev/null; then
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echo "[autorun] Gazebo exited early:"
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tail -40 "${LOG_DIR}/warehouse_gzsim.log" || true
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exit 1
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fi
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WS_CONFIG="${ROOT}/src/websocket.gzlaunch"
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[[ -f "$WS_CONFIG" ]] || WS_CONFIG="/usr/share/gz/gz-launch7/configs/websocket.gzlaunch"
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# WebsocketServer is a separate process from ros2 launch — it does NOT inherit
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# AppendEnvironmentVariable from warehouse_gzweb.launch.py. Without install/src
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# on GZ_SIM_RESOURCE_PATH, mesh requests get "Access denied" and GzWeb stays empty.
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export GZ_SIM_RESOURCE_PATH="${ROOT}/install:${ROOT}/src${GZ_SIM_RESOURCE_PATH:+:$GZ_SIM_RESOURCE_PATH}"
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export IGN_GAZEBO_RESOURCE_PATH="${GZ_SIM_RESOURCE_PATH}"
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echo "[autorun] starting gz-launch websocket on :9002 ..."
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echo "[autorun] GZ_SIM_RESOURCE_PATH=${GZ_SIM_RESOURCE_PATH}"
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gz launch "$WS_CONFIG" > "${LOG_DIR}/websocket.log" 2>&1 &
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WEBSOCKET_PID=$!
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sleep 10
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if ! ps -p "$WEBSOCKET_PID" > /dev/null; then
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echo "[autorun] websocket exited:"
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cat "${LOG_DIR}/websocket.log" || true
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exit 1
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fi
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echo "[autorun] ready. Refresh GzWeb (wss://{host}/gzbridge/). logs: ${LOG_DIR}"
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wait
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