MultiAgentMapping/run.bash at main · REGATTE/MultiAgentMapping · GitHub

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#!/bin/bash

# Exit immediately if a command exits with a non-zero status
set -e

## ==============================================================================
## Robot scout_1_1
# Launch the Isaac Sim point cloud publisher in a new terminal
echo "Launching Isaac Sim Point Cloud Full Publisher for Scout_1_1 in a new terminal..."
gnome-terminal -- bash -c "
    export ROS_DOMAIN_ID=1;
    ros2 launch isaac_sim_pointcloud_full_publisher full_pcd_pub.launch.py robot_namespace:=a config_file:=velodyne_vls_128.yaml;
    exec bash
"

# Launch the distributed mapping node in another new terminal
echo "Launching distributed mapping with the specified parameters for Scout_1_1 in a new terminal..."
gnome-terminal -- bash -c "
    export ROS_DOMAIN_ID=1;
    ros2 launch multi_agent_mapping run_params.launch.py params:=params_scout_1_1.yaml  namespace:=/a rviz_config:=scout_1_1.rviz;
    exec bash
"

# Launch the LIO-SAM node in another new terminal
echo "Launching domain bridge for a to b"
gnome-terminal -- bash -c "
    export ROS_DOMAIN_ID=1;
    ros2 run domain_bridge domain_bridge /home/regastation/workspaces/masters_ws/src/MultiAgentMapping/ros_packages/multiAgentMapping/config/DomainBridge/a_to_b.yaml;
    exec bash
"

gnome-terminal -- bash -c "
    export ROS_DOMAIN_ID=1;
    ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap cmd_vel:=/a/cmd_vel;
    exec bash
"

## ==============================================================================
## Robot scout_2_2
# Launch the Isaac Sim point cloud publisher in a new terminal
echo "Launching Isaac Sim Point Cloud Full Publisher for Scout_2_2 in a new terminal..."
gnome-terminal -- bash -c "
    export ROS_DOMAIN_ID=2;
    ros2 launch isaac_sim_pointcloud_full_publisher full_pcd_pub.launch.py robot_namespace:=b config_file:=velodyne_vls_128.yaml;
    exec bash
"

# Launch the distributed mapping node in another new terminal
echo "Launching distributed mapping with the specified parameters for Scout_2_2 in a new terminal..."
gnome-terminal -- bash -c "
    export ROS_DOMAIN_ID=2;
    ros2 launch multi_agent_mapping run_params.launch.py params:=params_scout_2_2.yaml  namespace:=/b rviz_config:=scout_2_2.rviz;
    exec bash
"

# Launch the LIO-SAM node in another new terminal
echo "Launching domain bridge for a to b"
gnome-terminal -- bash -c "
    export ROS_DOMAIN_ID=2;
    ros2 run domain_bridge domain_bridge /home/regastation/workspaces/masters_ws/src/MultiAgentMapping/ros_packages/multiAgentMapping/config/DomainBridge/b_to_a.yaml;
    exec bash
"

gnome-terminal -- bash -c "
    export ROS_DOMAIN_ID=2;
    ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap cmd_vel:=/b/cmd_vel;
    exec bash
"