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gmfrickegmfricke
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Merge pull request #36 from BCLab-UNM/StartupScripts
Automated deployment and physical rover node startup.
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‎.catkin_tools/profiles/default/packages/behaviours/package.xml‎

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<build_depend>std_msgs</build_depend>
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<build_depend>random_numbers</build_depend>
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<build_depend>tf</build_depend>
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<build_depend>apriltags_ros</build_depend>
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<run_depend>geometry_msgs</run_depend>
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<run_depend>roscpp</run_depend>
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<run_depend>sensor_msgs</run_depend>
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<run_depend>std_msgs</run_depend>
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<run_depend>random_numbers</run_depend>
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<run_depend>tf</run_depend>
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<run_depend>apriltags_ros</run_depend>
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<export>
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‎misc/deploy.sh‎

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#!/bin/bash
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OPTION=$1
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roverpass=""
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roverIP=""
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cd ..
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dirPath="$(pwd)"
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dirName="$(basename `pwd`)"
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#Functions
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#--------------------------------------------------------------------------
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Check()
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{
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cd ~
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if [ -z "$(ls -A $dirPath/src/ublox/)" ]; then
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echo "The ublox submodule is missing."
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exit 1
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fi
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if [ -z "$(ls -A $dirPath/src/apriltags_ros/)" ]; then
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echo "The apriltags submodule is missing."
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exit 1
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fi
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}
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PullGit_Pack()
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{
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gnome-terminal -x bash -c "cd $dirPath;
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echo 'Checking out branch $3';
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git checkout $2;
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sleep 2;
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echo 'Pulling latest build on branch $2';
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git pull;
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sleep 2;
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echo 'Compiling $dirName branch $2...';
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catkin build;
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sleep 2;
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cd -;
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echo 'Packing up the repository... ';
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tar czf $dirName.tgz $dirPath;
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exit 1;
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/bin/bash;' exec $SHELL"
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}
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Pack()
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{
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gnome-terminal -x bash -c "cd $dirPath;
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echo 'Compiling $dirName';
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catkin build;
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sleep 2;
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cd ~;
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echo 'Packing up the repository... ';
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tar czf $dirName.tgz $dirName;
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sleep 2;
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exit 1;
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/bin/bash;' exec $SHELL"
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}
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Transfer()
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{
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echo "Copying compressed repository to swarmie at $roverIP"
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scp $dirName.tgz swarmie@$roverIP:~
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}
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Unpack_Run()
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{
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echo "Unpacking repository $dirName on swarmie at $roverIP"
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gnome-terminal -x bash -c "ssh -t swarmie@$roverIP 'echo 'Unpacking $dirName.tgz ...';
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tar xzf $dirName.tgz;
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sleep 2;
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echo 'Starting ROS nodes on swarmie at $roverIP with master at $hostName';
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sleep 2;
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cd $dirName/misc/;
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./rover_onboard_node_launch.sh $hostName;
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exit 1;
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/bin/bash;' exec $SHELL"
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echo "Starting ROS nodes on swarmie at $3 with master at $hostName"
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echo ""
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}
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Run()
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{
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#ssh and run script from rover --WORKS
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gnome-terminal -x bash -c "ssh -t swarmie@$roverIP 'cd SwarmBaseCode-ROS/misc;
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./rover_onboard_node_launch.sh $hostName;
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exit 1;
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exit 1;
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/bin/bash;' exec $SHELL"
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}
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DispOpt()
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{
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clear
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echo "Your network info: $hostName@$userIP"
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echo ""
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echo "Type 'exit' to quit"
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if [ "$OPTION" != "-G" ]; then
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echo "Type '-G' to pull, transfer, and run on swarmie(s) "
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fi
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if [ "$OPTION" != "-L" ]; then
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echo "Type '-L' to transfer local code and run on swarmie(s)"
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fi
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if [ "$OPTION" != "-R" ]; then
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echo "Type '-R' to run current code loaded on Swarmies"
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fi
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echo "-------------------------------------------------------------"
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echo ""
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}
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SuccessPing()
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{
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cd ~
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echo "Found $roverIP"
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echo "-------------------------------------------------------------"
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echo "Uploading to $roverIP"
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echo ""
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}
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FailPing()
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{
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echo "$roverIP was not found on the network. Check IP and network settings!"
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echo "-------------------------------------------------------------"
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sleep 4
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echo ""
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}
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#Code Start
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#-----------------------------------------------------------------
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#find users current IP and store it
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userIP=$(ifconfig | grep 'inet addr:'| grep -v '127.0.0.1' | cut -d: -f2 | awk '{ print $1}')
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hostName=$(hostname)
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echo "$dirPath"
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echo "$dirName"
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#No Connection
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#-------------------------------------------------------------
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if [ -z "$userIP" ]; then
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echo "No Current Internet Connection Found"
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echo "Cannot SSH into rover without IP Address!"
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exit 1
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fi
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#No Command Given
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#-------------------------------------------------------------
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if [ -z $OPTION ]; then
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echo "-------------------------------------------------------------"
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echo "Please run this script with the following commands:"
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echo "'-G'[ithub] {branch} pulls and transfers workspace to swarmie(s)"
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echo "'-L'[ocal Files] duplicates current workspace and transfers to swarmie(s)"
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echo "'-R'[un] to run current code on all swarmie(s)"
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echo "-------------------------------------------------------------"
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exit 1
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fi
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clear
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#check OPTION given
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#------------------------------------------------------------
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while(true); do
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#GitHub Selection
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#------------------------------------------------------------
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if [ $OPTION == "-G" ]; then
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branch=$2
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#if not everything is filled out
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if [ "$branch"="" ]; then
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echo ""
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read -p "Branch?: " branch
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echo ""
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fi
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#Tell User Option
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echo "Retrieving and Transferring Code from GitHub: "
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DispOpt
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echo "dir: $dirPath branch: $branch"
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echo "-------------------------------------------------------------"
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echo ""
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Check
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PullGit_Pack
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while(true); do
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read -p "Rover Name/IP To Start: " roverIP
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if [ "$roverIP" = "exit" ]; then
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exit 1
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elif [ "$roverIP" = "-R" ]; then
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OPTION="-R"
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echo ""
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echo ""
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break
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elif [ "$roverIP" = "-L" ]; then
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OPTION="-L"
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echo ""
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echo ""
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break
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elif [ "$roverIP" = "branch" ]; then
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branch=""
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echo ""
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echo ""
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break
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fi
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#If rover is on the network
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ping -q -w2 $roverIP > /dev/null
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if [ $? -eq 0 ]; then
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SuccessPing
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#Transfer/Unpack/Run
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Transfer
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Unpack_Run
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sleep 10
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#if not on the network
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else
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FailPing
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fi
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done
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fi
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#Transfer Local Copy
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#-------------------------------------------------------------
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if [ $OPTION == "-L" ]; then
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Check
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echo "Copying and transferring current folder to swarmie(s)"
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DispOpt
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echo "dir: $dirPath"
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echo "-------------------------------------------------------------"
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echo ""
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Pack
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while(true); do
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read -p "Rover Name/IP To Start: " roverIP
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if [ "$roverIP" = "exit" ]; then
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exit 1
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elif [ "$roverIP" = "-G" ]; then
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OPTION="-G"
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echo ""
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echo ""
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break
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elif [ "$roverIP" = "-R" ]; then
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OPTION="-R"
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echo ""
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echo ""
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break
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fi
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#If rover is on the network
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ping -q -w2 $roverIP > /dev/null
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if [ $? -eq 0 ]; then
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SuccessPing
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#Transfer/Unpack/Run
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Transfer
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Unpack_Run
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sleep 10
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#if not on the network
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else
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FailPing
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fi
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done
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fi
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#Just Run
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#-------------------------------------------------------------
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if [ $OPTION == "-R" ]; then
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DispOpt
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echo "Running current swarmie(s) code"
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echo "-------------------------------------------------------------"
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echo ""
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while(true); do
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read -p "Rover Name/IP To Start: " roverIP
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if [ "$roverIP" = "exit" ]; then
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exit 1
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elif [ "$roverIP" = "-G" ]; then
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OPTION="-G"
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echo ""
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echo ""
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break
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elif [ "$roverIP" = "-L" ]; then
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OPTION="-L"
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echo ""
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echo ""
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break
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fi
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#If rover is on the network
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ping -q -w2 $roverIP > /dev/null
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if [ $? -eq 0 ]; then
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SuccessPing
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Run
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sleep 10
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#if not on the network
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else
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FailPing
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fi
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done
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fi
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done

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