cgras_dev_scripts/tmux-calibration.sh at main · qcr/cgras_dev_scripts · GitHub

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#!/bin/bash

TNAME="Calibration"

tmux has-session -t $TNAME 2>/dev/null

if [ $? != 0 ]; then
    tmux new-session -d -s $TNAME -n "core"
    # 4 pane layout
    # ROS core, UR Controller, Planner, rviz
    tmux split-window -v
    tmux split-window -h
    tmux select-pane -t 1
    tmux split-window -h
    tmux select-pane -t 1

    tmux send-keys -t $TNAME:core C-c
    tmux send-keys -t $TNAME:core "source ~/cgras2025_ws/devel_isolated/setup.bash" C-m
    #tmux send-keys -t $TNAME:core "roscore" C-m
    sleep 1.0
    tmux send-keys -t $TNAME:core.2 C-c
    tmux send-keys -t $TNAME:core.2 "source ~/cgras2025_ws/devel_isolated/setup.bash" C-m
    tmux send-keys -t $TNAME:core.2 "roslaunch cgras_moveit_config cgras_robot.launch" C-m
    sleep 2.0
    tmux send-keys -t $TNAME:core.3 C-c
    tmux send-keys -t $TNAME:core.3 "source ~/cgras2025_ws/devel_isolated/setup.bash" C-m
    tmux send-keys -t $TNAME:core.3 "roslaunch cgras_moveit_config moveit_planning_execution.launch" C-m
    sleep 2.0
    tmux send-keys -t $TNAME:core.4 C-c
    tmux send-keys -t $TNAME:core.4 "source ~/cgras2025_ws/devel_isolated/setup.bash" C-m
    tmux send-keys -t $TNAME:core.4 "roslaunch cgras_moveit_config moveit_rviz.launch" C-m
    sleep 2.0

    tmux new-window -t $TNAME -n "calibration"
    # 4 pane layout
    # FRAMOS, handeye service, calibration move script, Charuco detector
    tmux split-window -v
    tmux split-window -h
    tmux select-pane -t 1
    tmux split-window -h
    tmux select-pane -t 1

    tmux send-keys -t $TNAME:calibration.1 C-c
    tmux send-keys -t $TNAME:calibration.1 "source ~/cgras2025_ws/devel_isolated/setup.bash" C-m
    tmux send-keys -t $TNAME:calibration.1 "roslaunch realsense2_camera framos_rs_camera.launch" C-m

    tmux send-keys -t $TNAME:calibration.2 C-c
    tmux send-keys -t $TNAME:calibration.2 "source ~/cgras2025_ws/devel_isolated/setup.bash" C-m
    tmux send-keys -t $TNAME:calibration.2 "rosrun handeye handeye_server.py" C-m

    tmux send-keys -t $TNAME:calibration.3 C-c
    # NOTE: Sourcing a different build workspace for the calibration detector
    tmux send-keys -t $TNAME:calibration.3 "source ~/cgras2025_ws/devel_isolated/setup.bash" C-m
    tmux send-keys -t $TNAME:calibration.3 "rosrun moveit_calibration_detector moveit_calibration_detector_node" C-m

    tmux send-keys -t $TNAME:calibration.4 C-c
    tmux send-keys -t $TNAME:calibration.4 "source ~/cgras2025_ws/devel_isolated/setup.bash" C-m
    # NOTE: NOT Running automatically
    tmux send-keys -t $TNAME:calibration.4 "cd ~/cgras2025_ws/src/scripts" C-m
    tmux send-keys -t $TNAME:calibration.4 "python3 ./calibration-movement-framos.py"

    tmux set-option -t $TNAME status on
    tmux set-option -t $TNAME status-style fg=white,bg=black
    tmux set-option -t $TNAME status-left "#[fg=green]#S #[fg=yellow]: #W - "
    tmux set-option -t $TNAME status-left-length 40
    tmux set-option -t $TNAME status-right "#[fg=cyan]%d %b %R"

    tmux set-window-option -t $TNAME window-status-style fg=cyan,bg=black
    tmux set-window-option -t $TNAME window-status-current-style fg=white,bg=black

    tmux select-window -t $TNAME:calibration
    tmux select-pane -t 4
fi

tmux attach-session -t $TNAME