76 lines
1.9 KiB
Bash
Executable File
76 lines
1.9 KiB
Bash
Executable File
#!/usr/bin/env bash
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set -euo pipefail
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ROOT="/workspace"
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SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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# Shared vendor weights -> ~/.cache (idempotent; no-op if vendor not seeded yet)
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# shellcheck source=/dev/null
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source "${SCRIPT_DIR}/setup_model_cache.sh"
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sleep 5
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set +u
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source /opt/ros/humble/setup.bash
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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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kill_port_listeners() {
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local port="$1"
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local pids
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pids="$(ss -ltnp 2>/dev/null | grep ":${port} " | sed -E 's/.*pid=([0-9]+).*/\1/' | sort -u || true)"
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if [[ -n "${pids}" ]]; then
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echo "[run_all] port ${port} already in use, killing: ${pids}"
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kill ${pids} 2>/dev/null || true
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sleep 1
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fi
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}
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kill_port_listeners 9002
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export __NV_PRIME_RENDER_OFFLOAD=1
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export __GLX_VENDOR_LIBRARY_NAME=nvidia
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export TURTLEBOT3_MODEL=burger
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ros2 launch turtlebot3_gazebo turtlebot3_office.launch.py > "${LOG_DIR}/tb3_gzsim.log" 2>&1 &
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GZSIM_PID=$!
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# gz sim -v 4 -s -r empty.sdf > "${LOG_DIR}/empty_gzsim.log" 2>&1 &
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# GZSIM_PID=$!
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echo "[autorun] tb3_gzsim pid=${GZSIM_PID}, log=${LOG_DIR}/tb3_gzsim.log"
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sleep 8
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if ps -p "$GZSIM_PID" > /dev/null; then
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echo "[autorun] tb3_gzsim is still running"
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else
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echo "[autorun] tb3_gzsim exited early. Log:"
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cat "${LOG_DIR}/tb3_gzsim.log"
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fi
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echo "[autorun] starting websocket ..."
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gz launch "${ROOT}/src/websocket.gzlaunch" > "${LOG_DIR}/websocket.log" 2>&1 &
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WEBSOCKET_PID=$!
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echo "[autorun] websocket pid=${WEBSOCKET_PID}, log=${LOG_DIR}/websocket.log"
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sleep 10
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if ps -p "$WEBSOCKET_PID" > /dev/null; then
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echo "[autorun] websocket is still running"
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else
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echo "[autorun] websocket exited early. Log:"
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cat "${LOG_DIR}/websocket.log"
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exit 1
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fi
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echo "[autorun] all services started."
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echo "[autorun] tb3_gzsim pid=${GZSIM_PID}"
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echo "[autorun] websocket pid=${WEBSOCKET_PID}"
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wait
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