77 lines
2.4 KiB
Bash
Executable File
77 lines
2.4 KiB
Bash
Executable File
#!/bin/bash
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PID_FILE=$1
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# 检查 Python3 是否安装
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if ! command -v python3 &> /dev/null; then
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echo -e "\033[31m错误：未找到 Python3，请确保已安装 Python3\033[0m"
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exit 1
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fi
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# 检查 ROS 是否安装
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if ! command -v roslaunch &> /dev/null; then
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echo -e "\033[31m错误：未找到 roslaunch，请确保已安装 ROS\033[0m"
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exit 1
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fi
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# 清理旧的 PID 文件（如果存在）
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if [ -f "$PID_FILE" ]; then
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rm "$PID_FILE"
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echo -e "\033[33m已删除旧的 PID 文件: $PID_FILE\033[0m"
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fi
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# 捕获 Ctrl+C 信号，清理后台进程
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trap 'echo -e "\033[31m接收到 Ctrl+C，清理后台进程...\033[0m"; \
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if [ -f "$PID_FILE" ]; then \
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while read -r pid; do \
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kill $pid 2>/dev/null && echo -e "\033[32m已终止进程 PID: $pid\033[0m"; \
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done < "$PID_FILE"; \
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fi; \
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exit 0' SIGINT
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# 执行 kuavo_tf2_web_republisher
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echo -e "\033[32m启动 kuavo_tf2_web_republisher...\033[0m"
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cd ~/kuavo_ros_application && source devel/setup.bash && roslaunch kuavo_tf2_web_republisher start_websocket_server.launch &
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WEB_PID=$!
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if [ $? -eq 0 ]; then
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echo -e "\033[32mkuavo_tf2_web_republisher 启动成功 (PID: $WEB_PID)\033[0m"
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echo "$WEB_PID" >> "$PID_FILE"
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else
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echo -e "\033[31mkuavo_tf2_web_republisher 启动失败\033[0m"
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exit 1
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fi
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DELAY=5
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sleep $DELAY
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# 执行 load_kuavo_gazebo_manipulate
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echo -e "\033[32m启动 load_kuavo_gazebo_manipulate...\033[0m"
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cd ~/kuavo-ros-opensource && source devel/setup.bash && roslaunch humanoid_controllers load_kuavo_gazebo_manipulate.launch joystick_type:=bt2pro &
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GAZEBO_PID=$!
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if [ $? -eq 0 ]; then
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echo -e "\033[32mload_kuavo_gazebo_manipulate 启动成功 (PID: $GAZEBO_PID)\033[0m"
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echo "$GAZEBO_PID" >> "$PID_FILE"
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else
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echo -e "\033[31mload_kuavo_gazebo_manipulate 启动失败\033[0m"
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kill $WEB_PID 2>/dev/null
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rm "$PID_FILE" 2>/dev/null
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exit 1
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fi
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DELAY=10
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sleep $DELAY
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# 执行 robot_strategies
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echo -e "\033[32m启动 robot_strategies...\033[0m"
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cd ~/kuavo-ros-opensource && source devel/setup.bash && roslaunch ar_control robot_strategies.launch &
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STRATEGIES_PID=$!
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if [ $? -eq 0 ]; then
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echo -e "\033[32mrobot_strategies 启动成功 (PID: $STRATEGIES_PID)\033[0m"
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echo "$STRATEGIES_PID" >> "$PID_FILE"
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else
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echo -e "\033[31mrobot_strategies 启动失败\033[0m"
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kill $WEB_PID $GAZEBO_PID 2>/dev/null
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rm "$PID_FILE" 2>/dev/null
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exit 1
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fi
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# 在这里阻塞
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wait |