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[jsk_fetch_startup] fix escape evaluation in install_upstart.sh #1204

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[jsk_fetch_startup] fix escape evaluation in install_upstart.sh #1204

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da1c95b
fix escape evaluation in install_upstart.sh
knorth55 Feb 20, 2020
f0f8f8b
Merge branch 'master' into fix-install-upstart
knorth55 Mar 20, 2020
e95cdf0
Merge branch 'master' into fix-install-upstart
knorth55 Apr 17, 2020
192c37a
Merge branch 'master' into fix-install-upstart
knorth55 May 8, 2020
9885c7b
Merge branch 'master' into fix-install-upstart
knorth55 Jun 12, 2020
17be3f0
Merge branch 'master' into fix-install-upstart
knorth55 Nov 4, 2020
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20 changes: 9 additions & 11 deletions jsk_fetch_robot/jsk_fetch_startup/config/install_upstart.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -5,8 +5,8 @@ jsk_fetch_startup=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`"/.. > /dev/null &&
IFS=':' read -r -a prefix_paths <<< "$CMAKE_PREFIX_PATH"
current_prefix_path="${prefix_paths[0]}"

sudo bash -c "cat <<EOF > /etc/init/jsk-fetch-startup.conf
description \"spawn jsk bringup nodes for fetch\"
# jsk-fetch-startup
sudo bash -c "echo \"description \\\"spawn jsk bringup nodes for fetch\\\"
# use default log dir: yamaguchi & s-kitagawa (2019/04/18)
# env ROS_LOG_DIR=/var/log/ros

Expand All @@ -16,23 +16,21 @@ stop on roscore_is_down
respawn

# add ROSCONSOLE_FORMAT: s-kitagawa (2019/10/03)
env AUDIO_DEVICE=alsa_output.usb-1130_USB_AUDIO-00-AUDIO.analog-stereo
env ROSCONSOLE_FORMAT='[${severity}] [${time}] [${node}:${logger}]: ${message}'
env AUDIO_DEVICE=\\\"alsa_output.usb-1130_USB_AUDIO-00-AUDIO.analog-stereo\\\"
env ROSCONSOLE_FORMAT=\\\"[\\\${severity}] [\\\${time}] [\\\${node}:\\\${logger}]: \\\${message}\\\"

# enable usb speaker if available
pre-start script
# launch by fetch user: yamaguchi & s-kitagawa (2019/04/18)
# exec su ros -c 'pactl set-default-sink $AUDIO_DEVICE || true'
exec su fetch -c 'pactl set-default-sink $AUDIO_DEVICE || true'
# exec su ros -c \\\"pactl set-default-sink \\\$AUDIO_DEVICE || true\\\"
exec su fetch -c \\\"pactl set-default-sink \\\$AUDIO_DEVICE || true\\\"
end script

script
# launch by fetch user: yamaguchi & s-kitagawa (2019/04/18)
# exec su ros -c \". ${current_prefix_path}/setup.bash && roslaunch ${jsk_fetch_startup}/launch/fetch_bringup.launch boot_sound:=true\"
exec su fetch -c \". ${current_prefix_path}/setup.bash && roslaunch ${jsk_fetch_startup}/launch/fetch_bringup.launch boot_sound:=true\"
end script

EOF"
# exec su ros -c \\\". ${current_prefix_path}/setup.bash && roslaunch ${jsk_fetch_startup}/launch/fetch_bringup.launch boot_sound:=true\\\"
exec su fetch -c \\\". ${current_prefix_path}/setup.bash && roslaunch ${jsk_fetch_startup}/launch/fetch_bringup.launch boot_sound:=true\\\"
end script\" > /etc/init/jsk-fetch-startup.conf"
echo "== cat /etc/init/jsk-fetch-startup.conf =="
cat /etc/init/jsk-fetch-startup.conf
echo "== usage: sudo service jsk-fetch-startup restart =="