WIP: Improved scripts

launch_interface.sh

@@ -1,26 +1,71 @@
 #!/bin/bash
+set -o pipefail
 
-# Usage: ./launch_interface.sh -m $HELLO_FLEET_PATH/maps/<map_name>.yaml
-MAP_ARG=""
-if getopts ":m:" opt && [[ $opt == "m" && -f $OPTARG ]]; then
-    echo "Setting map..."
-    MAP_ARG="map_yaml:=$OPTARG"
+while getopts m:t:f opt; do
+    case $opt in
+        m)
+            # Usage: ./launch_interface.sh -m $HELLO_FLEET_PATH/maps/<map_name>.yaml
+            if [[ -f $OPTARG ]]; then
+                MAP="-m $OPTARG"
+            fi
+            ;;
+        t)
+            # Usage: ./launch_interface.sh -t pyttsx3
+            TTS="-t $OPTARG"
+            ;;
+        f)
+            # Usage: ./launch_interface.sh -f
+            FIREBASE="-f"
+    esac
+done
+
+timestamp='stretch_web_teleop_'`date '+%Y%m%d%H%M'`;
+logdir="$HOME/stretch_user/log/web_teleop/$timestamp"
+logfile_ros="$logdir/start_ros2.txt"
+logfile_node="$logdir/start_web_server_and_robot_browser.txt"
+logzip="$logdir/stretch_web_teleop_logs.zip"
+mkdir -p $logdir
+
+function echo_failure_help {
+    zip -r $logzip $logdir/ > /dev/null
+    echo ""
+    echo "#############################################"
+    echo "FAILURE. COULD NOT LAUNCH WEB TELEOP."
+    echo "Look at the troubleshooting guide for solutions to common issues: https://docs.hello-robot.com/0.3/getting_started/demos_web_teleop/#troubleshooting"
+    echo "or contact Hello Robot support and include $logzip"
+    echo "#############################################"
+    echo ""
+    exit 1
+}
+
+echo "#############################################"
+echo "LAUNCHING WEB TELEOP"
+echo "#############################################"
+
+cd $HOME/ament_ws/src/stretch_web_teleop
+./start_ros2.sh -l $logdir $MAP $TTS |& tee $logfile_ros
+if [ $? -ne 0 ]; then
+    echo_failure_help
 fi
 
-# Usage: ./launch_interface.sh -t pyttsx3
-TTS_ARG=""
-if getopts ":t:" opt && [[ $opt == "t" ]]; then
-    echo "Setting tts engine..."
-    TTS_ARG="tts_engine:=$OPTARG"
+# echo ""
+cd $HOME/ament_ws/src/stretch_web_teleop
+./start_web_server_and_robot_browser.sh -l $logdir $FIREBASE |& tee $logfile_node
+if [ $? -ne 0 ]; then
+    echo_failure_help
 fi
 
-stretch_free_robot_process.py;
-./stop_interface.sh
-sudo udevadm control --reload-rules && sudo udevadm trigger
-source /opt/ros/humble/setup.bash
-source ~/ament_ws/install/setup.bash
-source /usr/share/colcon_cd/function/colcon_cd.sh
-sleep 2;
-screen -dm -S "web_teleop_ros" ros2 launch stretch_web_teleop web_interface.launch.py $MAP_ARG $TTS_ARG
-sleep 3;
-~/ament_ws/src/stretch_web_teleop/start_web_server_and_robot_browser.sh
+zip -r $logzip $logdir/ > /dev/null
+
+echo ""
+echo "#############################################"
+echo "DONE! WEB TELEOP IS UP!"
+echo "Visit the URL(s) below to see the web interface:"
+if [ "$FIREBASE" = "-f" ]; then
+    echo "https://web.hello-robot.com/"
+else
+    echo "https://localhost/operator"
+    ifconfig | sed -En 's/127.0.0.1//;s/.*inet (addr:)?(([0-9]*\.){3}[0-9]*).*/https:\/\/\2\/operator/p'
+fi
+echo "#############################################"
+echo ""

start_ros2.sh

@@ -0,0 +1,60 @@
+#!/bin/bash
+set -e
+
+REDIRECT_LOGDIR="$HOME/stretch_user/log/web_teleop"
+mkdir -p $REDIRECT_LOGDIR
+while getopts l:m:t: opt; do
+    case $opt in
+        l)
+            # Usage: ./start_ros2.sh -l /tmp/some_folder
+            if [[ -d $OPTARG ]]; then
+                REDIRECT_LOGDIR=$OPTARG
+            fi
+            ;;
+        m)
+            # Usage: ./start_ros2.sh -m $HELLO_FLEET_PATH/maps/<map_name>.yaml
+            if [[ -f $OPTARG ]]; then
+                echo "Setting map..."
+                MAP_ARG="map_yaml:=$OPTARG"
+            fi
+            ;;
+        t)
+            # Usage: ./start_ros2.sh -t pyttsx3
+            echo "Setting tts engine..."
+            TTS_ARG="tts_engine:=$OPTARG"
+            ;;
+    esac
+done
+REDIRECT_LOGFILE="$REDIRECT_LOGDIR/start_ros2.`date '+%Y%m%d%H%M'`_redirected.txt"
+echo "Arguments:" &>> $REDIRECT_LOGFILE
+echo "-l $REDIRECT_LOGDIR" &>> $REDIRECT_LOGFILE
+echo "-m $MAP_ARG" &>> $REDIRECT_LOGFILE
+echo "-t $TTS_ARG" &>> $REDIRECT_LOGFILE
+
+if [[ -z `nmcli -t -f DEVICE c show --active | grep wlo1` ]]; then
+    echo "Not connected to Wifi. Starting Wifi-Connect..."
+    echo "Please connect to $HOSTNAME wifi and provide your home network's credentials"
+    sudo wifi-connect -s $HOSTNAME &>> $REDIRECT_LOGFILE
+fi
+
+echo "Setup environment..."
+. /etc/hello-robot/hello-robot.conf
+export HELLO_FLEET_ID HELLO_FLEET_ID
+export HELLO_FLEET_PATH=$HOME/stretch_user
+source /opt/ros/humble/setup.bash &>> $REDIRECT_LOGFILE
+source ~/ament_ws/install/setup.bash &>> $REDIRECT_LOGFILE
+source /usr/share/colcon_cd/function/colcon_cd.sh &>> $REDIRECT_LOGFILE
+
+echo "Freeing robot process..."
+/usr/bin/python3 $HOME/.local/bin/stretch_free_robot_process.py &>> $REDIRECT_LOGFILE
+
+echo "Stopping previous instances..."
+./stop_interface.sh &>> $REDIRECT_LOGFILE
+
+echo "Reload USB bus..."
+sudo udevadm control --reload-rules && sudo udevadm trigger &>> $REDIRECT_LOGFILE
+
+echo "Start ROS2..."
+sleep 2;
+screen -dm -S "web_teleop_ros" ros2 launch stretch_web_teleop web_interface.launch.py $MAP_ARG $TTS_ARG &>> $REDIRECT_LOGFILE
+sleep 3;

start_web_server_and_robot_browser.sh

@@ -1,11 +1,35 @@
 #!/bin/bash
+set -e
 
+REDIRECT_LOGDIR="$HOME/stretch_user/log/web_teleop"
+mkdir -p $REDIRECT_LOGDIR
+STORAGE="localstorage"
+while getopts l:f opt; do
+    case $opt in
+        l)
+            # Usage: ./start_web_server_and_robot_browser.sh -l /tmp/some_folder
+            if [[ -d $OPTARG ]]; then
+                REDIRECT_LOGDIR=$OPTARG
+            fi
+            ;;
+        f)
+            # Usage: ./start_web_server_and_robot_browser.sh -f
+            echo "Using firebase..."
+            STORAGE="firebase"
+    esac
+done
+REDIRECT_LOGFILE="$REDIRECT_LOGDIR/start_web_server_and_robot_browser.`date '+%Y%m%d%H%M'`_redirected.txt"
+echo "Arguments:" &>> $REDIRECT_LOGFILE
+echo "-l $REDIRECT_LOGDIR" &>> $REDIRECT_LOGFILE
+echo "-f $STORAGE" &>> $REDIRECT_LOGFILE
+
+echo "Run webpack..."
 export NODE_EXTRA_CA_CERTS="/home/hello-robot/ament_ws/src/stretch_web_teleop/certificates/rootCA.pem"
-cd ~/ament_ws/src/stretch_web_teleop && pm2 start -s npm --name="stretch_web_teleop" -- run localstorage
-cd ~/ament_ws/src/stretch_web_teleop && pm2 start -s server.js --watch
-cd ~/ament_ws/src/stretch_web_teleop && pm2 start -s start_robot_browser.js --watch
-set +x
-echo ""
-echo "Visit the URL(s) below to see the web interface:"
-echo "https://localhost/operator"
-ifconfig | sed -En 's/127.0.0.1//;s/.*inet (addr:)?(([0-9]*\.){3}[0-9]*).*/https:\/\/\2\/operator/p'
+cd ~/ament_ws/src/stretch_web_teleop && pm2 start -s npm --name="stretch_web_teleop" -- run $STORAGE &>> $REDIRECT_LOGFILE
+
+echo "Start local server..."
+cd ~/ament_ws/src/stretch_web_teleop && pm2 start -s server.js --watch &>> $REDIRECT_LOGFILE
+
+echo "Start robot browser..."
+cd ~/ament_ws/src/stretch_web_teleop && pm2 start -s start_robot_browser.js --watch &>> $REDIRECT_LOGFILE
+ifconfig | sed -En 's/127.0.0.1//;s/.*inet (addr:)?(([0-9]*\.){3}[0-9]*).*/https:\/\/\2\/operator/p' &>> $REDIRECT_LOGFILE

stop_interface.sh

@@ -9,8 +9,9 @@
 # but this would not arise if this script properly terminates
 # realsense nodes.
 screen -S "web_teleop_ros" -X stuff '^C'
+t1=$?
 sleep 3;
-if [[ $? -ne 0 ]]; then
+if [[ $t1 -ne 0 ]]; then
     echo "Using pkill"
     sudo pkill screen
 fi