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RezendersRezenders
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✨ runner for bt extended
1 parent 4e445cb commit 46949d4

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3 files changed

+165
-11
lines changed

3 files changed

+165
-11
lines changed

‎runner/headless_runner.sh

+148
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,148 @@
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#!/bin/bash
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if [ $# -lt 1 ]; then
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echo "usage: $0 gui adaptation_manager mission_type runs"
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echo example:
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echo " "$0 "[true | false] [metacontrol | random | none] [time | distance] runs(integer)"
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exit 1
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fi
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trap ctrl_c INT
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function ctrl_c() {
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echo "Cleaning up.."
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kill_running_nodes
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echo "Shutting down"
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exit 0
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}
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GUI=""
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MANAGER=""
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MTYPE=""
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FILENAME=""
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NOW=""
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if [ "$1" == "true" ] || [ "$1" == "false" ];
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then
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GUI=$1
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else
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echo "gui argument invalid"
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exit 1
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fi
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if [ "$2" == "metacontrol" ] || [ "$2" == "random" ] || [[ "$2" == "none" ]];
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then
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MANAGER=$2
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else
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echo "adaptation_manager invalid or missing"
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exit 1
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fi
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if [ "$3" == "time" ] || [ "$3" == "distance" ];
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then
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MTYPE=$3
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else
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echo "mission_type invalid or missing"
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exit 1
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fi
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if [ "$4" != "" ];
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then
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RUNS=$4
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else
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echo "number of runs invalid or missing"
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exit 1
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fi
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CURDIR=`pwd`
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DIR=`dirname $0`
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kill_running_nodes(){
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# Kill all ros nodes that may be running
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for i in $(ps ax | grep -w 'ros' | grep -v 'ros2cli' | grep -v 'vscode' | grep -v 'grep' | awk '{print $1}')
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do
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echo "kill -2 $i"
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kill -2 $i;
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done
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sleep 1
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for i in $(ps -aux | grep suave_reasoner | grep -v /ros/ | grep -v grep | awk '{print $2}')
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do
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echo "kill -2 $i"
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kill -2 $i;
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done
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sleep 1
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for i in $(ps -aux | grep 'gz sim' | grep -v grep | awk '{print $2}')
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do
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echo "kill -2 $i"
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kill -2 $i;
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done
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sleep 1
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for i in $(ps -aux | grep mav | grep -v grep | awk '{print $2}')
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do
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echo "kill -2 $i"
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kill -2 $i;
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done
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sleep 1
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for i in $(ps -aux | grep ardu | grep -v grep | awk '{print $2}')
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do
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echo "kill -2 $i"
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kill -2 $i;
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done
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sleep 15 #let it finish the killing spree
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}
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run_missions(){
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source $SUAVE_WS/install/setup.bash
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for ((j=0; j < $RUNS; j++));
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do
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echo "starting run"
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kill_running_nodes
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ros2 daemon stop
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ros2 daemon start
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FILENAME="${MANAGER}_${MTYPE}_${NOW}"
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echo $FILENAME
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#should add some geometry to this so they don't stack on top of each other
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screen -S vehicle -d -m bash -c "./scripts/start_ardusub.sh $GUI"
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sleep 10 #let it boot up
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./scripts/launch_sim.sh $GUI &
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sleep 30 #let it boot up
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rm -f /tmp/mission.done
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./scripts/launch_mission.sh $MANAGER $MTYPE $FILENAME &
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sleep 30 #let it boot up
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echo "start waiting for mission to finish"
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start_time=$SECONDS
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while [ ! -f /tmp/mission.done ]
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do
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if [ -f /tmp/mission.done ]
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then
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echo "mission done"
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rm /tmp/mission.done
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break;
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fi
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current_time=$SECONDS
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elapsed="$(($current_time-$start_time))"
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if (($elapsed>600))
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then
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echo "mission aborted"
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break;
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fi
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sleep 5 #sustainability!
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done
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echo "killing nodes"
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kill_running_nodes
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done
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}
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cd ~/ardupilot
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./waf configure && make sub
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cd $CURDIR
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NOW=$(date +"%d_%m_%y_%H_%M_%S")
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MISSIONCONFIG=${NOW}"_mission_config.yaml"
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mkdir -p ~/suave/results
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cp $SUAVE_WS/install/suave_missions/share/suave_missions/config/mission_config.yaml ~/suave/results/${MISSIONCONFIG}
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run_missions

‎runner/runner.sh

+2-2
Original file line numberDiff line numberDiff line change
@@ -3,7 +3,7 @@
33
if [ $# -lt 1 ]; then
44
echo "usage: $0 gui adaptation_manager mission_type runs"
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echo example:
6-
echo " "$0 "[true | false] [metacontrol | random | none | bt] [time | distance] runs(integer)"
6+
echo " "$0 "[true | false] [metacontrol | random | none | bt] [time | distance | extended] runs(integer)"
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exit 1
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fi
99

@@ -38,7 +38,7 @@ else
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exit 1
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fi
4040

41-
if [ "$3" == "time" ] || [ "$3" == "distance" ];
41+
if [ "$3" == "time" ] || [ "$3" == "distance" ] || [ "$3" == "extended" ];
4242
then
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MTYPE=$3
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else

‎runner/scripts/launch_mission.sh

+15-9
Original file line numberDiff line numberDiff line change
@@ -5,7 +5,7 @@ source ~/suave_ws/install/setup.bash
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if [ $# -lt 1 ]; then
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echo "usage: $0 adaptation_manager mission_type"
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echo example:
8-
echo " "$0 "[metacontrol | random | none | bt] [time | distance]"
8+
echo " "$0 "[metacontrol | random | none | bt] [time | distance | extended]"
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exit 1
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fi
1111

@@ -23,14 +23,15 @@ fi
2323
if [ "$2" == "time" ];
2424
then
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MTYPE="time_constrained_mission"
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elif [ "$2" == "distance" ];
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then
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MTYPE="const_dist_mission"
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elif [ "$2" == "extended" ];
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then
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MTYPE="extended"
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else
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if [ "$2" == "distance" ];
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then
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MTYPE="const_dist_mission"
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else
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echo "mission_type invalid or missing"
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exit 1
33-
fi
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echo "mission_type invalid or missing"
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exit 1
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fi
3536

3637
FILE=$3
@@ -41,5 +42,10 @@ then
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ros2 launch suave_missions mission.launch.py adaptation_manager:=$MANAGER mission_type:=$MTYPE result_filename:=$FILE mc_reasoning_time_filename:=$MCFILE
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elif [ "$MANAGER" == "bt" ];
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then
44-
ros2 launch suave_bt suave_bt.launch.py result_filename:=$3
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if [ "$MTYPE" == "extended" ];
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then
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ros2 launch suave_bt suave_bt_extended.launch.py result_filename:=$3
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else
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ros2 launch suave_bt suave_bt.launch.py result_filename:=$3
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fi
4551
fi

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