feat: add shell script chapter2 (#44)

* Create shell script for exmaple_02_02, 02_03, 02_04 * Bug fix * Delete comment * Rename shell scripts * style(pre-commit): autofix Signed-off-by: Takagi, Isamu <[email protected]> --------- Signed-off-by: Takagi, Isamu <[email protected]> Co-authored-by: Takagi, Isamu <[email protected]>
AutomotiveAIChallenge · Jun 18, 2024 · ea7149b · ea7149b
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diff --git a/src/autoware_practice_course/CMakeLists.txt b/src/autoware_practice_course/CMakeLists.txt
@@ -26,4 +26,10 @@ if(BUILD_TESTING)
   ament_lint_auto_find_test_dependencies()
 endif()
 
+install(PROGRAMS
+  src/velocity_planning/scripts/run_02_02.sh
+  src/velocity_planning/scripts/run_02_03.sh
+  src/velocity_planning/scripts/run_02_04.sh
+  DESTINATION lib/${PROJECT_NAME}
+)
 ament_auto_package()
diff --git a/src/autoware_practice_course/src/velocity_planning/scripts/run_02_02.sh b/src/autoware_practice_course/src/velocity_planning/scripts/run_02_02.sh
@@ -0,0 +1,9 @@
+#! /usr/bin/env bash
+# Autoware_practice 第2章の02-02を一括実行するためのスクリプト
+source install/setup.bash
+gnome-terminal -- ros2 launch autoware_practice_launch practice.launch.xml
+sleep 1s # ノード同時起動防止
+gnome-terminal -- ros2 topic echo /localization/kinematic_state
+gnome-terminal -- ros2 run autoware_practice_course p_controller --ros-args -p kp:=5.0 -p target_velocity:=1.0
+gnome-terminal -- ros2 bag record -o velocity.bag /localization/kinematic_state
+gnome-terminal -- ros2 run plotjuggler plotjuggler
diff --git a/src/autoware_practice_course/src/velocity_planning/scripts/run_02_03.sh b/src/autoware_practice_course/src/velocity_planning/scripts/run_02_03.sh
@@ -0,0 +1,10 @@
+#! /usr/bin/env bash
+# Autoware_practice 第2章の02-03(速度計画)を一括実行するためのスクリプト
+source install/setup.bash
+gnome-terminal -- ros2 launch autoware_practice_launch practice.launch.xml
+sleep 1s # ノード同時起動防止
+gnome-terminal -- ros2 run plotjuggler plotjuggler
+sleep 60s # plotjugglerの設定するための待機時間
+gnome-terminal -- ros2 run autoware_practice_course trajectory_loader --ros-args -p path_file:=src/autoware_practice_course/config/trajectory.csv
+sleep 1s # ノード同時起動防止
+gnome-terminal -- ros2 run autoware_practice_course longitudinal_controller --ros-args -p kp:=5.0
diff --git a/src/autoware_practice_course/src/velocity_planning/scripts/run_02_04.sh b/src/autoware_practice_course/src/velocity_planning/scripts/run_02_04.sh
@@ -0,0 +1,10 @@
+#! /usr/bin/env bash
+# Autoware_practice 第2章の02-04(横制御)を一括実行するためのスクリプト
+source install/setup.bash
+gnome-terminal -- ros2 launch autoware_practice_launch practice.launch.xml
+sleep 1s # ノード同時起動防止
+gnome-terminal -- ros2 run plotjuggler plotjuggler
+sleep 60s # plotjugglerの設定するための待機時間
+gnome-terminal -- ros2 run autoware_practice_course trajectory_loader --ros-args -p  path_file:=src/autoware_practice_course/config/trajectory_zigzag.csv
+sleep 1s # ノード同時起動防止
+gnome-terminal -- ros2 run autoware_practice_course trajectory_follower --ros-args -p kp:=5.0 -p lookahead_distance:=5.0