scripts/run.sh - master - SerValera/nti_host

scripts/run.sh
81 строка4 KB
Valerii Serpiva
first commit, draft of the docker for ground station, builed based on uav docker
01 июл 2026, 19:32
01 июл 2026, 19:32e6baad4
#!/bin/bash

tmux new-session -d -s flightsession

# initial window
tmux send-keys -t flightsession:0.0 "source /opt/ros/humble/setup.bash" Enter

# T265
tmux new-window -n "T265"
tmux split-window -v
tmux send-keys -t flightsession:1.0 "source /opt/ros/humble/setup.bash && ros2 launch realsense2_camera rs_launch.py enable_pose:=true device_type:=t265 camera_name:=t265 enable_gyro:=true enable_accel:=true unite_imu_method:=2" C-m
sleep 3
tmux send-keys -t flightsession:1.1 "ros2 topic list" Enter


# # VIO
# tmux new-window -n "VIO"
# tmux split-window -v
# tmux send-keys -t flightsession:2.0 "source /home/nuc/openvins_ws/devel/setup.bash && mon launch /home/nuc/openvins_ws/src/open_vins/ov_msckf/launch/subscribe_with_transform.launch config:=rs_t265" 
# tmux send-keys -t flightsession:2.1 "source /home/nuc/openvins_ws/devel/setup.bash && rosrun ov_msckf apply_tf_to_global.py" 

# tmux split-window -v
# tmux send-keys -t flightsession:2.2 "source /home/nuc/openvins_ws/devel/setup.bash && rosrun ov_msckf apply_ov_to_room.py" 
# tmux split-window -h
# tmux send-keys -t flightsession:2.3 "source /home/nuc/openvins_ws/devel/setup.bash && rosrun ov_msckf correct_tf_frame.py" 


# # APM
# tmux new-window -n "APM Initialize"
# tmux split-window -v
# tmux send-keys -t flightsession:3.0 "source /home/nuc/detector_test_ws/devel/setup.bash && source ~/stable_ai_pilot/racing_venv/bin/activate && mon launch drone_pkg apm_vio.launch" Enter
# sleep 4ro
# tmux send-keys -t flightsession:3.1 "if rostopic list | grep -q '/mavros/vision_pose/pose'; then source /home/nuc/detector_test_wslm_ws/devel/setup.bash"
# tmux split-window -v
# tmux send-keys -t flightsession:3.2 "rosrun mavros mavsys rate --all 50 && rostopic echo /mavros/state"


# # object detecotr
# tmux new-window -n "Object Detector"
# tmux split-window -v
# tmux send-keys -t flightsession:4.0 "source /home/nuc/detector_test_ws/devel/setup.bash && source ~/stable_ai_pilot/racing_venv/bin/activate && mon launch objects_detector node.launch"
# tmux send-keys -t flightsession:4.1 "source /home/nuc/detector_test_ws/devel/setup.bash && source ~/stable_ai_pilot/racing_venv/bin/activate && mon launch pose_estimation node.launch" Enter

# # fifth window
# tmux new-window -n "Planning"
# tmux split-window -v
# tmux send-keys -t flightsession:5.0 "source /home/nuc/detector_test_ws/devel/setup.bash && source ~/stable_ai_pilot/racing_venv/bin/activate && mon launch smooth_star_planner planner.launch" 
# tmux split-window -v
# tmux send-keys -t flightsession:5.1 "source /home/nuc/detector_test_ws/devel/setup.bash && source ~/stable_ai_pilot/racing_venv/bin/activate && rosrun drone_pkg rviz_drone_path.py" 


# # Rl run detecotr
# tmux new-window -n "Rl"
# tmux send-keys -t flightsession:6.0 "source /home/nuc/detector_test_ws/devel/setup.bash && source ~/stable_ai_pilot/racing_venv/bin/activate && mon launch rl_control rl_control.launch"

# # Rosbag record
# # tmux new-window -n "Rec"
# # tmux send-keys -t flightsession:5.0 "cd /home/nuc/detector_test_ws/src/objects_detector/scripts && ./record_rosbag.sh new_cam_model"

# # USB Camera node
# # tmux new-window -n "USBCam"
# # tmux send-keys -t flightsession:6.0 "cd /home/nuc/detector_test_ws/src/objects_detector/scripts && roslaunch usb_camera_node usb_cam.launch"

# # Diffution Control test
# tmux new-window -n "DifCon"
# tmux send-keys -t flightsession:7.0 "cd /home/nuc/detector_test_ws/src/objects_detector/scripts && roslaunch diff_control node.launch"


tmux bind-key -n S-Left select-pane -L
tmux bind-key -n S-Right select-pane -R
tmux bind-key -n S-Up select-pane -U
tmux bind-key -n S-Down select-pane -D
tmux bind-key -n M-S-Left previous-window
tmux bind-key -n M-S-Right next-window

tmux set-option -g mouse on
tmux set-option -g default-terminal "screen-256color"
tmux set-option -g terminal-overrides ',*:smcup@:rmcup@'
tmux set-option -g history-limit 10000

tmux attach-session -t flightsession