#!/usr/bin/env bash
# Load every overlay needed to deserialize the TianGong custom message types
# before rosbag2 discovers the configured topics.
set -eo pipefail

APP_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"

required_setups=(
  /opt/ros/jazzy/setup.bash
  /home/nvidia/xos/setup.bash
  /opt/robot_tele_server/install/setup.bash
)
for setup_file in "${required_setups[@]}"; do
  if [[ ! -f "$setup_file" ]]; then
    echo "Required ROS setup is missing: $setup_file" >&2
    exit 1
  fi
  # shellcheck disable=SC1090
  source "$setup_file"
done

# Do not source $APP_DIR/ros2_py here.  That deliberately minimal package only
# supplies the two Python wire types used by tg3_local_teleop.py; placing its
# partial ros2_bridge_msgs libraries ahead of the vendor's complete C++ package
# makes rosbag2 fail to load RobotState/ArmCtrl type support.  The recorder must
# use /opt/robot_tele_server/install for the complete vendor message package.
set -u

exec python3 "$APP_DIR/data_recorder_node.py" \
  --config "$APP_DIR/config.toml" \
  "$@"