92 lines
2.2 KiB
Bash
Executable File
92 lines
2.2 KiB
Bash
Executable File
#!/bin/bash
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TARGET="$1"
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if [[ "$TARGET" == "-h" || "$TARGET" == "--help" ]]; then
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exit 0
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fi
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if [[ $# -lt 1 ]]; then
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echo "Error: Expected at least 1 arg"
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exit 1
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fi
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if [[ $# -ge 2 ]]; then
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SPEED="$2"
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fi
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source install/setup.bash
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case $TARGET in
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"forward")
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ros2 topic pub --rate 10 /cmd_vel geometry_msgs/msg/TwistStamped "
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header: auto
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twist:
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linear:
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x: ${SPEED:-0.4}
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y: 0.0
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z: 0.0
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angular:
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x: 0.0
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y: 0.0
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z: 0.0"
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;;
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"backward")
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ros2 topic pub --rate 10 /cmd_vel geometry_msgs/msg/TwistStamped "
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header: auto
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twist:
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linear:
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x: ${SPEED:--0.8}
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y: 0.0
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z: 0.0
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angular:
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x: 0.0
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y: 0.0
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z: 0.0"
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;;
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"left")
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ros2 topic pub --rate 10 /cmd_vel geometry_msgs/msg/TwistStamped "
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header: auto
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twist:
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linear:
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x: 0.0
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y: 0.0
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z: 0.0
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angular:
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x: 0.0
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y: 0.0
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z: ${SPEED:-0.4}"
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;;
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"right")
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ros2 topic pub --rate 10 /cmd_vel geometry_msgs/msg/TwistStamped "
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header: auto
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twist:
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linear:
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x: 0.0
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y: 0.0
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z: 0.0
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angular:
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x: 0.0
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y: 0.0
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z: ${SPEED:--0.4}"
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;;
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"zero")
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ros2 service call /zero std_srvs/srv/Empty
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;;
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"vel")
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ros2 topic pub --rate 10 /velocity_controller/commands std_msgs/msg/Float64MultiArray "
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data: [$2, $3]"
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;;
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"switch")
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controllers=$(ros2 control list_controllers | grep -E "velocity|diffdrive")
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to_deactivate=$(echo "$controllers" | awk '$3 == "active" { print $1 }')
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to_activate=$(echo "$controllers" | awk '$3 == "inactive" { print $1 }')
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ros2 control switch_controllers --deactivate $to_deactivate --activate $to_activate --best-effort
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;;
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*)
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echo "Target not defined"
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exit 1
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;;
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esac
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exit 0
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