59 lines
1.4 KiB
Bash
59 lines
1.4 KiB
Bash
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#!/bin/bash
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DCAITI_PATH=.
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# Define your windows, working dirs, and commands
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declare -a windows=(
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"performance"
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"base"
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"remote_control"
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"lidar"
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"nav2"
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)
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declare -a work_dirs=(
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$HOME
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$DCAITI_PATH
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$DCAITI_PATH/src/dcaitirobot/launch
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$DCAITI_PATH
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$DCAITI_PATH/src/dcaitirobot/launch
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#$DCAITI_PATH/src/dcaiti_navigation/launch
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)
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declare -a commands=(
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"htop"
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"ros2 launch dcaiti_control launch_robot.py"
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"ros2 launch remote_control_launch.py"
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"ros2 launch velodyne velodyne-all-nodes-VLP16-launch.py"
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"ros2 launch launch_slam.py"
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#"ros2 launch start_nav2.py"
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)
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# Start tmux
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tmux start-server
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SESSION=dcaiti
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# Create a new session without attaching yet
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tmux new-session -d -s $SESSION
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# Iterate over sessions array and create them
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for index in ${!windows[*]}; do
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window=${windows[$index]}
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work_dir=${work_dirs[$index]}
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command=${commands[$index]}
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# If it's the first window, rename the existing window, otherwise create a new one
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if [ $index -eq 0 ]; then
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tmux rename-window -t $SESSION:0 $window
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else
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tmux new-window -t $SESSION -n $window
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fi
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# Switch to work_dir and execute the command
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tmux send-keys -t $SESSION:$window "cd $work_dir" C-m
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tmux send-keys -t $SESSION:$window "$command" C-m
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done
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# Finally attach to the tmux session
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tmux attach-session -t $SESSION
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