#!/usr/bin/env bash
set -euo pipefail
ROOT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
source "${ROOT_DIR}/scripts/go2_env.sh" nav
if [[ -f "${ROOT_DIR}/install/setup.bash" ]]; then
  _restore_nounset=0
  case "$-" in
    *u*) _restore_nounset=1; set +u ;;
  esac
  # colcon-generated setup files may read optional vars such as COLCON_TRACE.
  source "${ROOT_DIR}/install/setup.bash"
  if [[ "${_restore_nounset}" == "1" ]]; then
    set -u
  fi
  unset _restore_nounset
fi
services="$(ros2 service list)"
if ! grep -Fxq /go2_patrol/start <<<"${services}"; then
  echo '[go2_run_patrol] ERROR: /go2_patrol/start is not available. Start scripts/go2_start_patrol_executor.sh first.' >&2
  exit 1
fi
exec ros2 service call /go2_patrol/start std_srvs/srv/Trigger '{}'