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executable file
·131 lines (90 loc) · 5.98 KB
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#!/bin/bash
# Used to call a launch file as a service on boot
set -eo pipefail
# Allow overriding the Poseidon root (useful for CI where the repo is checked out elsewhere).
POSEIDON_ROOT="${POSEIDON_ROOT:-"$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"}"
export POSEIDON_ROOT
source /opt/ros/noetic/setup.bash
source "$POSEIDON_ROOT/src/workspace/devel/setup.bash"
########################
# Echoboat #
########################
# Echoboat configuration with imaginex 852
#roslaunch /opt/Poseidon/src/workspace/launch/Echoboat/echoboat_imaginex852.launch time_now:=$(date +%Y.%m.%d_%H%M%S)
# Echoboat configuration with out sonar
#roslaunch /opt/Poseidon/src/workspace/launch/Echoboat/echoboat.launch time_now:=$(date +%Y.%m.%d_%H%M%S)
###########################
# Hydroblock RPI #
###########################
# Hydroblock RPI configuration with imaginex 852 and Piksi and null
#roslaunch /opt/Poseidon/src/workspace/launch/Hydrobox/hydrobox_rpi_imagenex852_piksi_bno055.launch time_now:=$(date +%Y.%m.%d_%H%M%S)
# Hydroblock RPI configuration with imaginex 852 and piksi and bno055
#roslaunch /opt/Poseidon/src/workspace/launch/Hydrobox/hydrobox_rpi_imagenex852_piksi_null.launch time_now:=$(date +%Y.%m.%d_%H%M%S)
# Hydroblock RPI configuration with imaginex 852 and X5 and null
#roslaunch /opt/Poseidon/src/workspace/launch/Hydrobox/hydrobox_rpi_imagenex852_x5_bno055.launch time_now:=$(date +%Y.%m.%d_%H%M%S)
# Hydroblock RPI configuration with imaginex 852 and X5 and bno055
#roslaunch /opt/Poseidon/src/workspace/launch/Hydrobox/hydrobox_rpi_imagenex852_x5_null.launch time_now:=$(date +%Y.%m.%d_%H%M%S)
# Hydroblock configuration with Imagenex 852 sonar and ZED-F9P and bno055
#roslaunch /opt/Poseidon/src/workspace/launch/Hydrobox/hydrobox_rpi_imagenex852_Zed-F9P_bno055.launch time_now:=$(date +%Y.%m.%d_%H%M%S)
###
# Hydroblock RPI configuration with nmea sonar and piksi and null
#roslaunch /opt/Poseidon/src/workspace/launch/Hydrobox/hydrobox_rpi_nmeadevice_piksi_null.launch time_now:=$(date +%Y.%m.%d_%H%M%S)
# Hydroblock RPI configuration with nmea sonar and piksi and bno055
#roslaunch /opt/Poseidon/src/workspace/launch/Hydrobox/hydrobox_rpi_nmeadevice_piksi_bno055.launch time_now:=$(date +%Y.%m.%d_%H%M%S)
# Hydroblock RPI configuration with nmea sonar and X5 and null
#roslaunch /opt/Poseidon/src/workspace/launch/Hydrobox/hydrobox_rpi_nmeadevice_x5_null.launch time_now:=$(date +%Y.%m.%d_%H%M%S)
# Hydroblock RPI configuration with nmea sonar and X5 and bno055
#roslaunch /opt/Poseidon/src/workspace/launch/Hydrobox/hydrobox_rpi_nmeadevice_x5_bno055.launch time_now:=$(date +%Y.%m.%d_%H%M%S)
# Hydroblock configuration with nmea sonar and ZED-F9P and bno055
# ---roslaunch /opt/Poseidon/src/workspace/launch/Hydrobox/hydrobox_rpi_nmeadevice_ZED-F9P_bno055.launch time_now:=$(date +%Y.%m.%d_%H%M%S)
############################
# Hydroball #
############################
# Hydroball with IMAGENEX
#roslaunch /opt/Poseidon/src/workspace/launch/Hydroball/hydroball_rpi_imagenex852_Zed-F9P_bno055.launch
#Hydroball with Impact Subsea ISA500
#roslaunch /opt/Poseidon/src/workspace/launch/Hydroball/hydroball_rpi_isa500_Zed-F9P_bno055.launch
############################
# Hydroblock Rock #
############################
# Hydroblock Rock configuration with imaginex 852 and Piksi and null
#roslaunch /opt/Poseidon/src/workspace/launch/Hydrobox/hydrobox_rock_imagenex852_piksi_bno055.launch time_now:=$(date +%Y.%m.%d_%H%M%S)
# Hydroblock Rock configuration with imaginex 852 and piksi and bno055
#roslaunch /opt/Poseidon/src/workspace/launch/Hydrobox/hydrobox_rock_imagenex852_piksi_null.launch time_now:=$(date +%Y.%m.%d_%H%M%S)
# Hydroblock Rock configuration with imaginex 852 and X5 and null
#roslaunch /opt/Poseidon/src/workspace/launch/Hydrobox/hydrobox_rock_imagenex852_x5_bno055.launch time_now:=$(date +%Y.%m.%d_%H%M%S)
# Hydroblock Rock configuration with imaginex 852 and X5 and bno055
#roslaunch /opt/Poseidon/src/workspace/launch/Hydrobox/hydrobox_rock_imagenex852_x5_null.launch time_now:=$(date +%Y.%m.%d_%H%M%S)
###
# Hydroblock Rock configuration with nmea sonar and piksi and null
#roslaunch /opt/Poseidon/src/workspace/launch/Hydrobox/hydrobox_rock_nmeadevice_piksi_null.launch time_now:=$(date +%Y.%m.%d_%H%M%S)
# Hydroblock Rock configuration with nmea sonar and piksi and bno055
#roslaunch /opt/Poseidon/src/workspace/launch/Hydrobox/hydrobox_rock_nmeadevice_piksi_bno055.launch time_now:=$(date +%Y.%m.%d_%H%M%S)
# Hydroblock Rock configuration with nmea sonar and X5 and null
#roslaunch /opt/Poseidon/src/workspace/launch/Hydrobox/hydrobox_rock_nmeadevice_x5_null.launch time_now:=$(date +%Y.%m.%d_%H%M%S)
# Hydroblock Rock configuration with nmea sonar and X5 and bno055
#roslaunch /opt/Poseidon/src/workspace/launch/Hydrobox/hydrobox_rock_nmeadevice_x5_bno055.launch time_now:=$(date +%Y.%m.%d_%H%M%S)
# Hydroblock Rock configuration with nmea sonar and ZED-F9P and bno055
#roslaunch /opt/Poseidon/src/workspace/launch/Hydrobox/hydrobox_rock_nmeadevice_ZED-F9P_bno055.launch time_now:=$(date +%Y.%m.%d_%H%M%S)
########################
# Simulator #
########################
# Lowrance simulator
#roslaunch /opt/Poseidon/src/workspace/launch/Simulator/lowrance_simulator.launch
# Dummy simulator
#roslaunch /opt/Poseidon/src/workspace/launch/Simulator/dummy_simulator.launch
LOGGER_PATH="${POSEIDON_LOGGER_PATH:-"$POSEIDON_ROOT/www/webroot/record/"}"
CONFIG_PATH="${POSEIDON_CONFIG_PATH:-"$POSEIDON_ROOT/config.txt"}"
SONAR_DEVICE="${POSEIDON_SONAR_DEVICE:-"/dev/sonar"}"
roslaunch "$POSEIDON_ROOT/src/workspace/launch/Hydrobox/hydrobox_rpi_nmeadevice_ZED-F9P_bno055.launch" \
time_now:=$(date +%Y.%m.%d_%H%M%S) \
loggerPath:="$LOGGER_PATH" \
configPath:="$CONFIG_PATH" \
sonarDevice:="$SONAR_DEVICE"
########################
# Configuration #
########################
# Dummy simulator
#roslaunch /opt/Poseidon/src/workspace/launch/Configuration/Config_ZED-F9P.launch
# BNO-055 Calibration
#roslaunch /opt/Poseidon/src/workspace/launch/Configuration/Calibration_BNO055.launch