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75 lines
2.2 KiB
75 lines
2.2 KiB
#!/bin/bash
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echo "Attempt to revert to the previous calibration."
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echo "First, attempt to move most recent calibration files to the reversion directory"
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REVERSION_DIR=$HELLO_FLEET_PATH/$HELLO_FLEET_ID"/calibration_ros/reverted/"
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echo "Creating $REVERSION_DIR if it does not already exist."
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mkdir $REVERSION_DIR
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echo "-----------------------------------------------------------"
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echo "Find the most recent optimization results file."
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FILENAME=$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 "Moving $MOSTRECENT_OPTIMIZATION_FILE to the reversion directory."
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echo "mv $MOSTRECENT_OPTIMIZATION_FILE $REVERSION_DIR"
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mv $MOSTRECENT_OPTIMIZATION_FILE $REVERSION_DIR
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echo "-----------------------------------------------------------"
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echo "Find the most recent controller calibration file."
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FILENAME=$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 "Moving $MOSTRECENT_CONTROLLER_FILE to the reversion directory."
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echo "mv $MOSTRECENT_CONTROLLER_FILE $REVERSION_DIR"
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mv $MOSTRECENT_CONTROLLER_FILE $REVERSION_DIR
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echo "-----------------------------------------------------------"
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echo "Find the most recent calibrated URDF file."
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FILENAME=$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 "Moving $MOSTRECENT_URDF to the reversion directory."
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echo "mv $MOSTRECENT_URDF $REVERSION_DIR"
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mv $MOSTRECENT_URDF $REVERSION_DIR
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echo "-----------------------------------------------------------"
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echo "Now, update calibration using the most recent files remaining in the calibration directory."
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echo "rosrun stretch_calibration update_with_most_recent_calibration.sh"
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rosrun stretch_calibration update_with_most_recent_calibration.sh
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echo "-----------------------------------------------------------"
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echo "Done."
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