38 lines
704 B
Bash
38 lines
704 B
Bash
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#!/usr/bin/env bash
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set -euo pipefail
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if [ "$#" -lt 2 ]; then
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echo "Usage: merge_ros1.sh OUT.bag IN1.bag [IN2.bag ...]"
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exit 1
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fi
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OUT_BAG="$1"
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shift
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IN_BAGS=("$@")
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source /opt/ros/noetic/setup.bash
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echo "[ROS] start roscore"
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roscore >/tmp/roscore.log 2>&1 &
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ROSCORE_PID=$!
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sleep 3
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echo "[ROS] start record -> $OUT_BAG"
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rosbag record -a -x "/rosout.*" -O "$OUT_BAG" >/tmp/rosbag_record.log 2>&1 &
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REC_PID=$!
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sleep 2
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for b in "${IN_BAGS[@]}"; do
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echo "[ROS] play $b"
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rosbag play "$b" >/tmp/rosbag_play.log 2>&1
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done
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echo "[ROS] stop record"
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kill -INT "$REC_PID" || true
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wait "$REC_PID" || true
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echo "[ROS] stop roscore"
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kill -INT "$ROSCORE_PID" || true
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echo "[ROS] merge done -> $OUT_BAG"
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