#!/bin/bash
source /opt/ros/humble/setup.bash
source /home/elephant/agv_pro_ros2/install/setup.bash
export ROS_DOMAIN_ID=1
cd /home/elephant/agv_pro_ros2
nohup ros2 daemon start >/dev/null 2>&1 &
sleep 5
nohup ros2 launch agv_pro_bringup agv_pro_bringup.launch.py port_name:=/dev/agvpro_controller > /tmp/ros2_bringup.log 2>&1 &
sleep 8
nohup python3 /home/elephant/work/scan_fixer/fix_scan_timestamp.py > /tmp/scan_fixer.log 2>&1 &
sleep 5
nohup ros2 launch agv_pro_navigation2 navigation2_active.launch.py autostart:=True > /tmp/ros2_nav2.log 2>&1 &
sleep 15
cd /home/elephant/work/agv_app && nohup python3 app.py > /tmp/agv_flask.log 2>&1 &
sleep 5
echo "ALL_STARTED"
ps aux | grep -E 'lslidar|agv_pro_node|nav2_container|scan_timestamp_fixer|ros2-daemon|app.py' | grep -v grep