23 lines
775 B
Bash
23 lines
775 B
Bash
#!/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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services="$(ros2 service list)"
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if ! grep -Fxq /go2_patrol/start <<<"${services}"; then
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echo '[go2_run_patrol] ERROR: /go2_patrol/start is not available. Start scripts/go2_start_patrol_executor.sh first.' >&2
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exit 1
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fi
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exec ros2 service call /go2_patrol/start std_srvs/srv/Trigger '{}'
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