55 lines
1.3 KiB
Bash
Executable File
55 lines
1.3 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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echo "Available commands: napred, rotiraj, na"
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exit 1
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fi
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if [[ $# -ge 2 ]]; then
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SMER="$2"
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fi
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if [[ $# -ge 3 ]]; then
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MIN_ROT="$(echo "$3*a(1)/45" | bc -l)"
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fi
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source install/setup.bash
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case $TARGET in
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"na")
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ros2 action send_goal /moveCoords toid_msgs/action/SimpleMoveCoords "
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x: 1.325
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y: 0.045
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theta: -1.57079632679489661922
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backwards: ${SMER:-0}"
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;;
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"pravo")
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ros2 action send_goal /translateX toid_msgs/action/SimpleTranslateX "distance: ${SMER:-0.3}"
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;;
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"rotiraj")
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SMER="$(echo "$SMER*a(1)/45" | bc -l)"
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echo $SMER
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ros2 action send_goal /rotate toid_msgs/action/SimpleRotate "
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angle: ${SMER:-0.3}
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min_angle: ${MIN_ROT:-0.0}"
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;;
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"stani")
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ros2 service call /moveCoords/_action/cancel_goal action_msgs/srv/CancelGoal &
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ros2 service call /translateX/_action/cancel_goal action_msgs/srv/CancelGoal &
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ros2 service call /rotate/_action/cancel_goal action_msgs/srv/CancelGoal &
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wait
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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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