第一次

infra/tencent/merge/merge_ros1.sh

@@ -0,0 +1,37 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+if [ "$#" -lt 2 ]; then
+  echo "Usage: merge_ros1.sh OUT.bag IN1.bag [IN2.bag ...]"
+  exit 1
+fi
+
+OUT_BAG="$1"
+shift
+IN_BAGS=("$@")
+
+source /opt/ros/noetic/setup.bash
+
+echo "[ROS] start roscore"
+roscore >/tmp/roscore.log 2>&1 &
+ROSCORE_PID=$!
+sleep 3
+
+echo "[ROS] start record -> $OUT_BAG"
+rosbag record -a -x "/rosout.*" -O "$OUT_BAG" >/tmp/rosbag_record.log 2>&1 &
+REC_PID=$!
+sleep 2
+
+for b in "${IN_BAGS[@]}"; do
+  echo "[ROS] play $b"
+  rosbag play "$b" >/tmp/rosbag_play.log 2>&1
+done
+
+echo "[ROS] stop record"
+kill -INT "$REC_PID" || true
+wait "$REC_PID" || true
+
+echo "[ROS] stop roscore"
+kill -INT "$ROSCORE_PID" || true
+
+echo "[ROS] merge done -> $OUT_BAG"