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