22 lines
471 B
Bash
Executable File
22 lines
471 B
Bash
Executable File
#!/bin/bash
|
|
|
|
|
|
ros_distro="jazzy"
|
|
script_dir=$(dirname "$(readlink -f "${bash_source[0]}")")
|
|
pids=()
|
|
|
|
trap "trap - SIGTERM && kill -- -$$" SIGINT SIGTERM EXIT
|
|
|
|
source "/opt/ros/${ROS_DISTRO}/setup.bash"
|
|
source "./install/setup.bash"
|
|
|
|
trap "trap - SIGTERM && kill -- -$$" SIGINT SIGTERM EXIT
|
|
|
|
ros2 launch mg_bringup bt.launch.py & pids+=($!)
|
|
|
|
sleep 1
|
|
|
|
ros2 action send_goal /mg_bt_action_server btcpp_ros2_interfaces/action/ExecuteTree "target_tree: $1" & pids+=($!)
|
|
|
|
wait
|