#!/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"