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Commit 29506d0e authored by Leon Michel Gorißen's avatar Leon Michel Gorißen
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Do nothing pysical on startup

uncomment everything in entrypoints to avoid unintended behavior
at WZL machines
parent 08ce15fe
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#!/bin/bash #!/bin/bash
# Sleep x seconds until robot is ready # Sleep x seconds until robot is ready
echo "Waiting for Robot Setup to finish" #echo "Waiting for Robot Setup to finish"
sleep 30 #sleep 30
# Start your background processes # 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 # 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 # Wait indefinitely until SIGTERM is received
echo "Waiting for SIGTERM..." #echo "Waiting for SIGTERM..."
while true; do #while true; do
sleep 10 # 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' #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 #done
#!/bin/bash #!/bin/bash
# Source your completion script # 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 # 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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