42 lines
1.1 KiB
Bash
42 lines
1.1 KiB
Bash
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#!/usr/bin/env bash
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set -euo pipefail
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ROOT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
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source "${ROOT_DIR}/scripts/go2_env.sh" nav
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if [[ -f "${ROOT_DIR}/install/setup.bash" ]]; then
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_restore_nounset=0
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case "$-" in
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*u*) _restore_nounset=1; set +u ;;
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esac
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# colcon-generated setup files may read optional vars such as COLCON_TRACE.
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source "${ROOT_DIR}/install/setup.bash"
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if [[ "${_restore_nounset}" == "1" ]]; then
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set -u
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fi
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unset _restore_nounset
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fi
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if ros2 service list | grep -Fxq /go2_patrol/clear_route; then
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exec ros2 service call /go2_patrol/clear_route std_srvs/srv/Trigger '{}'
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fi
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ROUTE_FILE="${GO2_PATROL_ROUTE_FILE:-${ROOT_DIR}/config/ros2_patrol_routes/default.yaml}"
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python3 - "${ROUTE_FILE}" <<'PY'
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import pathlib
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import sys
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import time
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path = pathlib.Path(sys.argv[1]).expanduser()
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path.parent.mkdir(parents=True, exist_ok=True)
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path.write_text(
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"route_name: default
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"
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"frame_id: map
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"
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"created_by: rviz_goal_pose
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"
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f"updated_at: {time.strftime('%Y-%m-%dT%H:%M:%S%z')}
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"
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"waypoints: []
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",
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encoding="utf-8",
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)
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print(f"cleared route file: {path}")
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PY
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