Add new file

run_ros.sh

+#!/bin/bash
+
+# How to use: (only accept three params below)
+# 1.start lv nodes and record lv rosbag(the number represents the recording time): ./run_ros.sh lv 10
+# 2.only start lv node: ./run_ros.sh lv
+# 3.only start all nodes: ./run_ros.sh jfx
+# 4. stop all nodes: ./run_ros.sh stop
+# 5. restart all nodes: ./run_ros.sh restart
+
+
+function getpids(){
+    local res=`ps -ef | grep -v grep | grep $1 | sed 's/[ ][ ]*/ /g' | cut -d' ' -f8`
+    echo $res
+}
+
+function killpids(){
+    local res=`ps -ef | grep -v grep | grep $1 | sed 's/[ ][ ]*/ /g' | cut -d' ' -f2,8`
+    local arr=($res)
+    for i in ${!arr[@]}
+    do
+        if [ `expr $i % 2` -eq 0 ];then
+            `echo "123" | sudo -S kill -9 ${arr[$i]}`
+            echo "\tprocess \033[36m${arr[$i+1]}\033[0m killed\n"
+        fi
+    done
+}
+
+function stopapp(){
+	source /home/nvidia/catkin_ws/devel/setup.sh
+	rosnode list
+	rosnode kill --all
+	rosnode cleanup
+    `killall roslaunch`
+	echo "============ ALL ROS NODE HAS BEEN SHUTDOWN ============"
+
+}
+
+function startapp(){
+	echo "====== ROSNODE     KILL      ALL======"
+	rosnode kill --all
+	clear
+	sleep 2
+
+	echo "====== START            ROSCORE ======"
+	cd /home/nvidia/catkin_ws/
+	roscore_logname="roscore-$(date +%Y%m%d)_$(date +%H%M%S).log"
+   	nohup roscore > ../log/$roscore_logname 2>&1 &
+
+   	sleep 3
+
+	echo  "====== START PANDAR64 ROS NODES ======"
+	cd /home/nvidia/catkin_ws/
+	source devel/setup.bash
+	lidar_logname="lidar-$(date +%Y%m%d)_$(date +%H%M%S).log"
+	nohup roslaunch hesai_lidar hesai_lidar.launch > ../log/$lidar_logname 2>&1 &
+   
+	echo  "====== START  CAMERA  ROS NODES ======"
+	cd /home/nvidia/catkin_ws/
+	source devel/setup.bash
+	camera_logname="camera-$(date +%Y%m%d)_$(date +%H%M%S).log"
+	nohup roslaunch spinnaker_sdk_camera_driver node_acquisition.launch  > ../log/$camera_logname 2>&1 &
+     
+	if [ $1 == "jfx" ];then
+
+		echo  "====== Start PROJECT ROS NODES ========"
+		cd /home/nvidia/catkin_ws/
+		source devel/setup.bash
+		rosproject_logname="project-$(date +%Y%m%d)_$(date +%H%M%S).log"
+		nohup roslaunch jfxrosperceiver project.launch  > ../log/$rosproject_logname 2>&1 &
+	fi
+	echo -e "----------------------------------------------------------------------------\n\n"
+	sleep 4
+	if [ $2 != " " ];then
+		for j in 1 2 3; do
+			if [ $j == 1 ];then
+				sleep 4
+				rm -rf /home/nvidia/rosbag/*
+			fi
+			echo "++++++ RECORD  ROSBAG(LV)  $j  TIMES ++++++"
+			record_rosbag $2 j
+		done
+		echo "RECORD ROSBAG IS FINISHED"
+	fi
+}
+
+function record_rosbag(){
+	mkdir -p /home/nvidia/rosbag
+	cd /home/nvidia/rosbag
+        rosbag_logname="rosbag-$(date +%Y%m%d)_$(date +%H%M%S).log"
+	nohup rosbag record --duration=$1 $(rostopic list | grep 'pandar$') $(rostopic list | grep 'compressed$') > ../log/$rosbag_logname 2>&1 &
+	tm="scale=1; $1/100" | bc
+	export tm=$(echo "scale=1;  $1/100" | bc)
+	i=0
+	icon=''
+	arr=('|' '/' '-' '\\')
+	index=0
+	while [ $i -le 100 ]
+	do
+    		index=`echo $i%4`
+    		printf "[%-74s][%d%%][%c]\r" "$icon" "$i" "${arr[$index]}"
+    		icon='#'$icon
+   		 ((i++))
+   		 sleep $tm
+	done
+	echo
+
+	echo "++++++ RECORD ROSBAG(LV) $j TIMES OK ++++++"
+	sleep 3
+	save_path="/media/nvidia/Data/7-1/"
+	rosbag_name=$( ls | grep '.bag$')
+	rosbag info $rosbag_name
+	echo "++++++ SCP $rosbag_name TO $save_path(POINT 1-1) ++++++"
+	scp ./*.bag nvidia@10.50.108.1:$save_path
+	rm -rf ./*.bag
+	echo -e "\n"
+}
+
+MODE="start"
+if [ $# -ge 1 ];then
+MODE=$1
+fi
+clear
+mkdir -p /home/nvidia/log
+if [ $MODE == "stop" ];then
+    stopapp
+    echo "mec app stopped at " `date` >> /home/nvidia/log/rosstop.log
+elif [ $MODE == "start" ];then
+    startapp $2 $3
+    echo "mec app started at " `date` >> /home/nvidia/log/rosstart.log
+elif [ $MODE == "restart" ];then
+    stopapp
+    startapp $2 $3
+    echo "mec app restarted at " `date` >> /home/nvidia/log/rosrestart.log
+else
+    echo "Unexpected param(start stop or restart)"
+
+fi