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44 lines
1.6 KiB
44 lines
1.6 KiB
#!/bin/bash
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echo "-----------------------------------------------------------"
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echo "Find the most recent optimization results file."
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FILENAME=$HELLO_FLEET_PATH/$HELLO_FLEET_ID"/calibration_ros/head_calibration_result_"
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for file in `ls $FILENAME*.yaml | sort -r`; do
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MOSTRECENT_OPTIMIZATION_FILE=$file
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break 1
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done
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echo "Found $MOSTRECENT_OPTIMIZATION_FILE"
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echo "-----------------------------------------------------------"
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echo "Find the most recent controller calibration file."
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FILENAME=$HELLO_FLEET_PATH/$HELLO_FLEET_ID"/calibration_ros/controller_calibration_head_"
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for file in `ls $FILENAME*.yaml | sort -r`; do
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MOSTRECENT_CONTROLLER_FILE=$file
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break 1
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done
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echo "Found $MOSTRECENT_CONTROLLER_FILE"
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echo "-----------------------------------------------------------"
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echo "Find the most recent calibrated URDF file."
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FILENAME=$HELLO_FLEET_PATH/$HELLO_FLEET_ID"/calibration_ros/head_calibrated_"
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for file in `ls $FILENAME*.urdf | sort -r`; do
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MOSTRECENT_URDF=$file
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break 1
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done
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echo "Found $MOSTRECENT_URDF"
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echo "-----------------------------------------------------------"
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echo "Launch the visualization using these three files."
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echo "roslaunch stretch_calibration visualize_head_calibration.launch optimization_result_yaml_file:=$MOSTRECENT_OPTIMIZATION_FILE calibrated_controller_yaml_file:=$MOSTRECENT_CONTROLLER_FILE calibrated_urdf_file:=$MOSTRECENT_URDF"
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roslaunch stretch_calibration check_head_calibration.launch optimization_result_yaml_file:=$MOSTRECENT_OPTIMIZATION_FILE calibrated_controller_yaml_file:=$MOSTRECENT_CONTROLLER_FILE calibrated_urdf_file:=$MOSTRECENT_URDF
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