#!/usr/bin/env bash
# ROS setup scripts probe optional variables, so enable nounset only after
# sourcing the overlays.
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
if [[ -d /home/nvidia/OmniSocketGo/python ]]; then
  export PYTHONPATH="/home/nvidia/OmniSocketGo/python${PYTHONPATH:+:$PYTHONPATH}"
fi
set -u

exec python3 "$APP_DIR/tg3_local_teleop.py" \
  --config "$APP_DIR/config.toml" \
  --status-file "$APP_DIR/status.json" \
  "$@"