cgras_dev_scripts/tmux-cgras-headless.sh at main · qcr/cgras_dev_scripts · GitHub

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#!/bin/bash

TNAME="Nuc-Command"

sleep 20

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 -t $TNAME:core
    tmux split-window -h -t $TNAME:core
    tmux select-pane -t $TNAME:core.1
    tmux split-window -h -t $TNAME:core
    tmux select-pane -t $TNAME:core

    #tmux send-keys -t $TNAME:core.0 C-c
    tmux send-keys -t $TNAME:core.0 "echo 'CGRAS ROBOT LAUNCH TERMINAL'" C-m
    tmux send-keys -t $TNAME:core.0 "source /home/qcr/cgras2025_ws/devel_isolated/setup.bash" C-m
    tmux send-keys -t $TNAME:core.0 "roslaunch cgras_moveit_config cgras_robot.launch" C-m
    sleep 2.0

    #tmux send-keys -t $TNAME:core.1 C-c
    tmux send-keys -t $TNAME:core.1 "echo 'MOVEIT LAUNCH TERMINAL'" C-m
    tmux send-keys -t $TNAME:core.1 "source /home/qcr/cgras2025_ws/devel_isolated/setup.bash" C-m
    tmux send-keys -t $TNAME:core.1 "roslaunch cgras_moveit_config moveit_planning_execution.launch" C-m
    sleep 2.0

    #tmux send-keys -t $TNAME:core.2 C-c
    tmux send-keys -t $TNAME:core.2 "echo 'UR CONTROL RESETTER TERMINAL'" C-m
    tmux send-keys -t $TNAME:core.2 "source /home/qcr/cgras2025_ws/devel_isolated/setup.bash" C-m
    #tmux send-keys -t $TNAME:core.2 "python3 /home/qcr/cgras2025_ws/src/cgras_dev_scripts/navigation-debugger.py" C-m
    tmux send-keys -t $TNAME:core.2 "cd /home/qcr/cgras2025_ws/src/cgras_dev_scripts" C-m
    sleep 2.0

    #tmux send-keys -t $TNAME:core.3 C-c
    tmux send-keys -t $TNAME:core.3 "echo 'CGRAS MANIPULATION SERVER TERMINAL'" C-m
    tmux send-keys -t $TNAME:core.3 "source /home/qcr/cgras2025_ws/devel_isolated/setup.bash" C-m
    #tmux send-keys -t $TNAME:core.3 "/home/qcr/cgras2025_ws/src/cgras_dev_scripts/reset-ur-controller.sh && rosrun cgras_robot_manipulator ros_server.py" C-m
    tmux send-keys -t $TNAME:core.3 "rosrun cgras_robot_manipulator ros_server.py" C-m
    sleep 2.0

    tmux new-window -t $TNAME -n "calibration"
    # 4 pane layout
    # FRAMOS, handeye service, Charuco detector, (late addition...) Robot Recovery
    tmux split-window -v -t $TNAME:calibration
    tmux split-window -h -t $TNAME:calibration
    tmux select-pane -t $TNAME:calibration.1
    tmux split-window -h -t $TNAME:calibration
    tmux select-pane -t $TNAME:calibration

    #tmux send-keys -t $TNAME:calibration.0 C-c
    tmux send-keys -t $TNAME:calibration.0 "echo 'FRAMOS LAUNCH TERMINAL'" C-m
    tmux send-keys -t $TNAME:calibration.0 "source /home/qcr/cgras2025_ws/devel_isolated/setup.bash" C-m
    tmux send-keys -t $TNAME:calibration.0 "roslaunch realsense2_camera framos_rs_camera.launch" C-m

    #tmux send-keys -t $TNAME:calibration.1 C-c
    tmux send-keys -t $TNAME:calibration.1 "echo 'HANDEYE CALIBRATION SERVER TERMINAL'" C-m
    tmux send-keys -t $TNAME:calibration.1 "source /home/qcr/cgras2025_ws/devel_isolated/setup.bash" C-m
    tmux send-keys -t $TNAME:calibration.1 "rosrun handeye handeye_server.py" C-m

    #tmux send-keys -t $TNAME:calibration.2 C-c
    tmux send-keys -t $TNAME:calibration.2 "echo 'APRILTAG DETECTOR TERMINAL'" C-m
    tmux send-keys -t $TNAME:calibration.2 "source /home/qcr/cgras2025_ws/devel_isolated/setup.bash" C-m
    tmux send-keys -t $TNAME:calibration.2 "rosrun moveit_calibration_detector moveit_calibration_detector_node" C-m

    #tmux send-keys -t $TNAME:calibration.3 C-c <-- Original for all the commands
    tmux send-keys -t $TNAME:calibration.3 "echo 'ROBOT RESET / LIGHT CONTROL TERMINAL'" C-m
    tmux send-keys -t $TNAME:calibration.3 "source /home/qcr/cgras2025_ws/devel_isolated/setup.bash" C-m
    tmux send-keys -t $TNAME:calibration.3 "python3 /home/qcr/cgras2025_ws/src/cgras_dev_scripts/robot-reset-recovery-node.py" C-m

    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:core
fi