25 lines
889 B
Bash
25 lines
889 B
Bash
#!/usr/bin/env bash
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set -euo pipefail
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SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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# shellcheck disable=SC1091
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source "${SCRIPT_DIR}/load-env.sh"
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# shellcheck disable=SC1091
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source "/opt/ros/${ROS_DISTRO}/setup.bash"
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cd "${ROS_CONTROL_PY_DIR}"
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# shellcheck disable=SC1091
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source "install/setup.bash"
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exec ros2 launch udp_teleop_bridge robot_udp_receiver.launch.py \
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"transport:=${ROBOT_RECEIVER_TRANSPORT}" \
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"server_addr:=${ROBOT_RECEIVER_SERVER_ADDR}" \
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"relay_via:=${ROBOT_RECEIVER_RELAY_VIA}" \
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"peer_id:=${ROBOT_RECEIVER_PEER_ID}" \
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"expected_sender:=${ROBOT_RECEIVER_EXPECTED_SENDER}" \
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"local_socket_path:=${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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