feat: package TG3 TS1P OmniSocket teleoperation

tg3_local_teleop/home.sh

@@ -0,0 +1,31 @@
+#!/usr/bin/env bash
+set -eo pipefail
+
+APP_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+source /opt/ros/jazzy/setup.bash
+if [[ -f /home/nvidia/xos/setup.bash ]]; then
+  source /home/nvidia/xos/setup.bash
+fi
+if [[ -f /opt/robot_tele_server/install/setup.bash ]]; then
+  source /opt/robot_tele_server/install/setup.bash
+fi
+if [[ -f "$APP_DIR/ros2_py/install/setup.bash" ]]; then
+  source "$APP_DIR/ros2_py/install/setup.bash"
+fi
+set -u
+
+case "${1:-status}" in
+  start)
+    ros2 service call /tg3_local_teleop/return_home std_srvs/srv/Trigger "{}"
+    ;;
+  cancel|stop)
+    ros2 service call /tg3_local_teleop/cancel_home std_srvs/srv/Trigger "{}"
+    ;;
+  status)
+    "$APP_DIR/status.sh"
+    ;;
+  *)
+    echo "usage: $0 {start|cancel|status}" >&2
+    exit 2
+    ;;
+esac