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frogn_fields_remote.yaml
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frogn_fields_remote.yaml
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---
init_cmd: |
#exec /bin/bash
set -o pipefail
function export_default () {
var_name="$1"
var_default="$2"
eval $var_name="${!var_name:-$var_default}"
export $var_name
echo " $0 -> $var_name=${!var_name}"
}
# source ROS
source "/opt/ros/kinetic/setup.bash"
# search for VPN tun device:
#default_iface=`route -n | grep "^10.8.0.0" | tr -s " " | cut -f8 -d" " || echo lo`
#default_ip=`ip addr show dev "$default_iface" | grep "inet " | sed 's@ *inet \([0-9\.]*\).*@\1@' || echo 127.0.0.1`
# load robot-specific config file
if [ -r "$HOME/.rasberryrc" ]; then echo "*** loading $HOME/.rasberryrc" ; source "$HOME/.rasberryrc"; fi
export_default BASE_CONFIG_DIR `readlink -f . || echo .`
export_default ROBOT_NAME `hostname | tr "-" "_" | tr "." "_"`
export_default SCENARIO_NAME "default"
# load robot-specific config file
if [ -r "$BASE_CONFIG_DIR/robots/$ROBOT_NAME.sh" ]; then echo "*** loading $BASE_CONFIG_DIR/robots/$ROBOT_NAME.sh" ; source "$BASE_CONFIG_DIR/robots/$ROBOT_NAME.sh"; fi
# load scenario-specific config file
if [ -r "$BASE_CONFIG_DIR/scenarios/$SCENARIO_NAME.sh" ]; then echo "*** loading $BASE_CONFIG_DIR/scenarios/$SCENARIO_NAME.sh" ; source "$BASE_CONFIG_DIR/scenarios/$SCENARIO_NAME.sh"; fi # configure the development workspace (assuming we are in rasberry_bringup/tmule)
#export_default CATKIN_WORKSPACE "`readlink -f ../../../.. || echo $HOME/rasberry_ws`"
export_default CATKIN_WORKSPACE "`echo $HOME/planner_ws`"
source "$CATKIN_WORKSPACE/devel/setup.bash"
# set ROS_MASTER to the correct IP
#export_default ROS_MASTER $default_ip
export_default ROS_MASTER "10.248.0.76"
# set ROS_IP not to the IP that we will connect to remotely
export_default ROS_IP `ip route get $ROS_MASTER | grep "src" | sed 's/.*src \([0-9\.]*\).*/\1/' || echo $ROS_MASTER`
# set ROS_HOSTNAME to the ROS_IP to avoid configuring /etc/hosts for anyone who connects
export_default ROS_HOSTNAME "$ROS_IP"
# path where to expect MONGODB
export_default MONGO_PATH "$HOME/mongodb"
# use IMU?
export_default USE_IMU true
# the topomap to be used
export_default TMAP frogn_fields
# the gridmap to be used (key in mongodb)
export_default MAP "$(rospack find gnss_waypoint_navigation)/maps/white_image.yaml"
# figure out the robot number from the hostname, assuming it is like `thorvald-XXX`
export_default ROBOT_NO `hostname | cut -f2 -d"-"`
# set the robot type
export_default ROBOT_TYPE "thorvald_ii_4wd4ws_slim"
export ROS_MASTER_URI="http://$ROS_MASTER:11311/"
#export_default ROSBRIDGE_IP "10.8.0.18"
#export_default ROSBRIDGE_PORT "9090"
export_default USE_SIM false
export_default GAZEBO_WORLD riseholme
export_default EKF_PUBLISH_TF true
export_default USE_CARROT false
export_default USE_GUI false
export_default USE_OMNI false
export_default USE_WAYPOINT_NAV false
export_default USE_FEATURE_DETECTOR false
export_default LOC_EDGE_RECONF "norway"
export_default ENVIRONMENT "open_fields"
export_default MODEL_EXTRAS "$(rospack find auto_nav)/urdf/sensors_frogn.xacro"
windows:
- name: camera_data_collection
panes:
#- sleep 1; roslaunch camera_data_collection flir_basler_record.launch
- sleep 1; roslaunch auto_nav realsense.launch