From 29506d0e53aeddc874a24e6a9976dd4759ec1689 Mon Sep 17 00:00:00 2001
From: Leon Gorissen <leon.gorissen@llt.rwth-aachen.de>
Date: Tue, 4 Jun 2024 14:27:09 +0200
Subject: [PATCH] Do nothing pysical on startup
uncomment everything in entrypoints to avoid unintended behavior
at WZL machines
---
catkin_ws/src/panda_autodynamics/entrypoint.sh | 18 +++++++++---------
franka_lock_unlock/entrypoint.sh | 4 ++--
2 files changed, 11 insertions(+), 11 deletions(-)
diff --git a/catkin_ws/src/panda_autodynamics/entrypoint.sh b/catkin_ws/src/panda_autodynamics/entrypoint.sh
index 7322c9e..51f3674 100755
--- a/catkin_ws/src/panda_autodynamics/entrypoint.sh
+++ b/catkin_ws/src/panda_autodynamics/entrypoint.sh
@@ -1,17 +1,17 @@
#!/bin/bash
# Sleep x seconds until robot is ready
-echo "Waiting for Robot Setup to finish"
-sleep 30
+#echo "Waiting for Robot Setup to finish"
+#sleep 30
# Start your background processes
-bash -c 'source /opt/ros/noetic/setup.bash; source /app/catkin_ws/devel/setup.bash; source /root/.bashrc; roslaunch panda_autodynamics panda_auto_dynamics.launch' &
+#bash -c 'source /opt/ros/noetic/setup.bash; source /app/catkin_ws/devel/setup.bash; source /root/.bashrc; roslaunch panda_autodynamics panda_auto_dynamics.launch' &
# Set a trap for SIGTERM
-trap 'echo "SIGTERM received, exiting"; exit 0' SIGTERM
+#trap 'echo "SIGTERM received, exiting"; exit 0' SIGTERM
# Wait indefinitely until SIGTERM is received
-echo "Waiting for SIGTERM..."
-while true; do
- sleep 10
-bash -c 'source /opt/ros/noetic/setup.bash; source /app/catkin_ws/devel/setup.bash; source /root/.bashrc; rostopic pub -1 /franka_control/error_recovery/goal franka_msgs/ErrorRecoveryActionGoal "{}" ; rosrun panda_autodynamics panda_auto_dynamics_v1.py'
-done
+#echo "Waiting for SIGTERM..."
+#while true; do
+# sleep 10
+#bash -c 'source /opt/ros/noetic/setup.bash; source /app/catkin_ws/devel/setup.bash; source /root/.bashrc; rostopic pub -1 /franka_control/error_recovery/goal franka_msgs/ErrorRecoveryActionGoal "{}" ; rosrun panda_autodynamics panda_auto_dynamics_v1.py'
+#done
diff --git a/franka_lock_unlock/entrypoint.sh b/franka_lock_unlock/entrypoint.sh
index 26557d6..2b92938 100755
--- a/franka_lock_unlock/entrypoint.sh
+++ b/franka_lock_unlock/entrypoint.sh
@@ -1,5 +1,5 @@
#!/bin/bash
# Source your completion script
-source /app/franka_lock_unlock/frankalockunlock-completion.bash
+# source /app/franka_lock_unlock/frankalockunlock-completion.bash
# Execute the Python script, replacing the current shell process with Python
-exec frankalockunlock "$FRANKA_PASSWORD" --hostname "$FRANKA_IP" --username "$FRANKA_USERNAME" --wait --request --persistent --unlock --lock --fci
+# exec frankalockunlock "$FRANKA_PASSWORD" --hostname "$FRANKA_IP" --username "$FRANKA_USERNAME" --wait --request --persistent --unlock --lock --fci
--
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