252 lines
8.8 KiB
Bash
Executable File
252 lines
8.8 KiB
Bash
Executable File
#!/usr/bin/env bash
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# ./launch_robot.sh [node_names...] # launch specific nodes
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# ./launch_robot.sh all # launch all nodes in launch.conf
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# Safer bash defaults for this script
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set -Eeuo pipefail
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# Argument check
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TARGET_NODES=()
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LAUNCH_ALL=false
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if [ $# -eq 0 ]; then
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echo "Error: No target nodes specified."
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echo "Usage: $0 [node1 node2 ...] | all"
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exit 1
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fi
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if [[ "$1" == "all" ]]; then
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LAUNCH_ALL=true
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else
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TARGET_NODES=("$@")
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fi
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# Workspace directory defaults to the current working directory when the script is run
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WS_DIR="${WS_DIR:-$PWD}"
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SCRIPT_DIR="$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")" >/dev/null 2>&1 && pwd)"
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CONFIG_FILE="${CONFIG_FILE:-${SCRIPT_DIR}/launch.conf}"
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# 获取日期和时间戳函数
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date_day() { date +"%Y%m%d"; }
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readable_timestamp() { date +"%Y%m%d_%H%M%S"; }
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# 1. 自动创建当天的日志根目录并包含本次启动的时间子目录
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DAILY_LOG_ROOT="${WS_DIR}/logs/$(date_day)"
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LOG_DIR="${DAILY_LOG_ROOT}/robot_logs_$(readable_timestamp)"
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# LOG_ORIGIN_DIR="${LOG_DIR}/origin"
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mkdir -p "${LOG_DIR}"
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# mkdir -p "${LOG_ORIGIN_DIR}"
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# 2. 导出相关环境变量
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#export ROS_LOG_DIR="${LOG_ORIGIN_DIR}"
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# ROS 2 无法原生完全禁用文件日志，将其指向 /tmp 下的临时目录以避免持久化保存
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export ROS_LOG_DIR="/tmp/ros_log_discard_$(readable_timestamp)"
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export PYTHONUNBUFFERED=1
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export RCUTILS_LOGGING_BUFFERED_STREAM=1
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export RCUTILS_COLORIZED_OUTPUT=0
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# title|mode|package|target|args
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# mode: run => ros2 run <pkg> <executable>
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# launch => ros2 launch <pkg> <launch_file.py>
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if [[ -f "${CONFIG_FILE}" ]]; then
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mapfile -t COMPONENTS < <(grep -vE '^\s*#' "${CONFIG_FILE}" | sed '/^\s*$/d')
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else
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echo "no configuration file found at ${CONFIG_FILE}, exiting." >&2
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exit 1
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fi
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compose_terminal_script() {
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local title="$1" cmds_block="$2"
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cat <<EOF
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echo Launching Robot ${title}
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cd "${WS_DIR}"
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set +u; source install/setup.bash || { echo "Workspace not built (missing install/setup.bash). Run: colcon build" >&2; }; set -u;
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# Freeze terminal title so it won't be changed by shell rc/profile
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printf '\033]0;%s\007' "${title}"
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${cmds_block}
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echo "All processes launched for: Launching Robot ${title}"
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exec bash --noprofile --norc
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EOF
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}
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launch_with_gnome_terminal() {
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# Build unique title list
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local unique_titles=()
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for entry in "${COMPONENTS[@]}"; do
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IFS='|' read -r title mode pkg target args <<<"$entry"
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# --- Filter Logic ---
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if [ "$LAUNCH_ALL" = false ]; then
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local match_found=false
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for node_filter in "${TARGET_NODES[@]}"; do
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# Match against package name or executable name
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if [[ "$node_filter" == "$pkg" ]] || [[ "$node_filter" == "$target" ]]; then
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match_found=true
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break
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fi
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done
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if [ "$match_found" = false ]; then
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continue
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fi
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fi
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# --------------------
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local found=0
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for t in "${unique_titles[@]:-}"; do
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if [[ "$t" == "$title" ]]; then found=1; break; fi
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done
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if [[ $found -eq 0 ]]; then unique_titles+=("$title"); fi
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done
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# For each title, gather commands and open a terminal
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for title in "${unique_titles[@]}"; do
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local cmds_block=""
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for entry in "${COMPONENTS[@]}"; do
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IFS='|' read -r etitle mode pkg target args <<<"$entry"
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[[ "$etitle" != "$title" ]] && continue
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# --- Filter Logic (Repeated for execution block) ---
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if [ "$LAUNCH_ALL" = false ]; then
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local match_found=false
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for node_filter in "${TARGET_NODES[@]}"; do
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# Match against package name or executable name
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if [[ "$node_filter" == "$pkg" ]] || [[ "$node_filter" == "$target" ]]; then
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match_found=true
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break
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fi
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done
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if [ "$match_found" = false ]; then
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continue
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fi
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fi
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# --------------------
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args="${args:-}"
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local ros_cmd
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if [[ "${pkg}" == "ethercat_control" ]]; then
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ros_cmd="taskset -c 7 ./cpu7.sh"
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elif [[ "$mode" == "launch" ]]; then
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ros_cmd="ros2 launch ${pkg} ${target} ${args}"
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else
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ros_cmd="ros2 run ${pkg} ${target} ${args}"
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fi
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if [[ "${pkg}" == "robot_control" ]]; then
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ros_cmd="echo 'Waiting for EtherCAT slaves to be OP...'; while ! ethercat slaves 2>&1 | grep -q 'OP' || ethercat slaves 2>&1 | grep -v 'OP' | grep -q .; do sleep 2; done; ${ros_cmd}"
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fi
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# 3. 为每个组件生成带明文时间戳的日志文件名并添加重定向
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local log_file="${LOG_DIR}/${etitle}_${target}_$(readable_timestamp).log"
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ros_cmd="{ ${ros_cmd}; } 2>&1 | tee \"${log_file}\""
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cmds_block+="${ros_cmd} &"$'\n'
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done
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# If no commands collected for this title (because all were filtered out), skip launching terminal
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if [[ -z "$cmds_block" ]]; then continue; fi
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# Compose the final script for this terminal
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local cmd
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cmd=$(compose_terminal_script "$title" "$cmds_block")
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# gnome-terminal --title="${title}" -- bash -lc "$cmd" &
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bash -c "$cmd" &
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sleep 3
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done
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}
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launch_with_xterm() {
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local unique_titles=()
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for entry in "${COMPONENTS[@]}"; do
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IFS='|' read -r title mode pkg target args <<<"$entry"
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# --- Filter Logic ---
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if [ "$LAUNCH_ALL" = false ]; then
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local match_found=false
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for node_filter in "${TARGET_NODES[@]}"; do
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# Match against package name or executable name
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if [[ "$node_filter" == "$pkg" ]] || [[ "$node_filter" == "$target" ]]; then
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match_found=true
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break
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fi
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done
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if [ "$match_found" = false ]; then
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continue
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fi
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fi
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# --------------------
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local found=0
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for t in "${unique_titles[@]:-}"; do
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if [[ "$t" == "$title" ]]; then found=1; break; fi
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done
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if [[ $found -eq 0 ]]; then unique_titles+=("$title"); fi
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done
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for title in "${unique_titles[@]}"; do
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local cmds_block=""
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for entry in "${COMPONENTS[@]}"; do
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IFS='|' read -r etitle mode pkg target args <<<"$entry"
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[[ "$etitle" != "$title" ]] && continue
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# --- Filter Logic (Repeated for execution block) ---
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if [ "$LAUNCH_ALL" = false ]; then
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local match_found=false
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for node_filter in "${TARGET_NODES[@]}"; do
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# Match against package name or executable name
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if [[ "$node_filter" == "$pkg" ]] || [[ "$node_filter" == "$target" ]]; then
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match_found=true
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break
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fi
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done
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if [ "$match_found" = false ]; then
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continue
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fi
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fi
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# --------------------
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args="${args:-}"
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local ros_cmd
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if [[ "${pkg}" == "ethercat_control" ]]; then
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ros_cmd="taskset -c 7 ./cpu7.sh"
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elif [[ "$mode" == "launch" ]]; then
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ros_cmd="ros2 launch ${pkg} ${target} ${args}"
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else
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ros_cmd="ros2 run ${pkg} ${target} ${args}"
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fi
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if [[ "${pkg}" == "robot_control" ]]; then
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ros_cmd="echo 'Waiting for EtherCAT slaves to be OP...'; while ! ethercat slaves 2>&1 | grep -q 'OP' || ethercat slaves 2>&1 | grep -v 'OP' | grep -q .; do sleep 2; done; ${ros_cmd}"
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fi
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# 3. 为每个组件生成带明文时间戳的日志文件名并添加重定向
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local log_file="${LOG_DIR}/${etitle}_${target}_$(readable_timestamp).log"
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ros_cmd="{ ${ros_cmd}; } 2>&1 | tee \"${log_file}\""
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cmds_block+="${ros_cmd} &"$'\n'
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done
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# If no commands collected for this title (because all were filtered out), skip launching terminal
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if [[ -z "$cmds_block" ]]; then continue; fi
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local cmd
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cmd=$(compose_terminal_script "$title" "$cmds_block")
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xterm -T "${title}" -hold -e bash -lc "$cmd" &
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done
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}
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main() {
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echo "Starting robot components..."
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if command -v gnome-terminal >/dev/null 2>&1; then
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echo "Using gnome-terminal"
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launch_with_gnome_terminal
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elif command -v xterm >/dev/null 2>&1; then
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echo "Using xterm"
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launch_with_xterm
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else
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echo "No terminal emulator found (gnome-terminal or xterm). Proceeding with background execution." >&2
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launch_with_gnome_terminal
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fi
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}
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main "$@"
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