43 lines
1.2 KiB
Bash
Executable File
43 lines
1.2 KiB
Bash
Executable File
#!/usr/bin/env bash
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set -euo pipefail
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SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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source_with_nounset_off() {
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set +u
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# shellcheck disable=SC1090
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source "$1"
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set -u
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}
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# shellcheck disable=SC1091
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source "${SCRIPT_DIR}/load-env.sh"
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source_with_nounset_off "/opt/ros/${ROS_DISTRO}/setup.bash"
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cd "${ROS_CONTROL_PY_DIR}"
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source_with_nounset_off "install/setup.bash"
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launch_args=(
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"transport:=${ROBOT_RECEIVER_TRANSPORT}"
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"peer_id:=${ROBOT_RECEIVER_PEER_ID}"
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"local_socket_path:=${ROBOT_RECEIVER_LOCAL_SOCKET_PATH}"
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"output_topic:=${ROBOT_RECEIVER_OUTPUT_TOPIC}"
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"frame_id:=${ROBOT_RECEIVER_FRAME_ID}"
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"watchdog_timeout:=${ROBOT_RECEIVER_WATCHDOG_TIMEOUT}"
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"publish_rate_hz:=${ROBOT_RECEIVER_PUBLISH_RATE_HZ}"
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)
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if [[ -n "${ROBOT_RECEIVER_SERVER_ADDR}" ]]; then
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launch_args+=("server_addr:=${ROBOT_RECEIVER_SERVER_ADDR}")
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fi
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if [[ -n "${ROBOT_RECEIVER_RELAY_VIA}" ]]; then
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launch_args+=("relay_via:=${ROBOT_RECEIVER_RELAY_VIA}")
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fi
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if [[ -n "${ROBOT_RECEIVER_EXPECTED_SENDER}" ]]; then
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launch_args+=("expected_sender:=${ROBOT_RECEIVER_EXPECTED_SENDER}")
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fi
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exec ros2 launch udp_teleop_bridge robot_udp_receiver.launch.py "${launch_args[@]}"
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