run_one_scenario.sh

#!/bin/bash
cd ~/.ros

# Create a unique ID for the scenario
SCENARIO_FOLDER=`/bin/date +%s`
mkdir -p results/$SCENARIO_FOLDER
echo "Storing results in results/$SCENARIO_FOLDER"

# Execute control
echo "Executing control scenario"
RESULTS_FOLDER=results/$SCENARIO_FOLDER/control

echo "Creating folder for control results: $RESULTS_FOLDER"
mkdir -p $RESULTS_FOLDER
export RESULTS_FOLDER=$RESULTS_FOLDER

echo "Executing scenario: $1"
export i=$1
i=$1

# Launch gazebo
roslaunch pr2_gazebo pr2_empty_world.launch gui:=true &
echo "PR2 launched. Waiting 5 seconds for stability"
sleep 5

echo "Running set arm positions"
rosrun gazebo_utils set_arm_positions
echo "Completed setting arm positions"

echo "Lauching humanoid catching"
CPUPROFILE_FREQUENCY=1000 roslaunch humanoid_catching human_catching_simulated.launch &

echo "Starting fall"
rosrun gazebo_utils random_fall_generator

echo "Killing processes"
kill $(ps -ef | grep '/usr/bin/python /opt/ros/groovy/bin/roslaunch' | grep -v grep | awk '{print $2}')

echo "Waiting for processes to die"
# Now wait for the processes to clean up
while ps -ef | grep '/usr/bin/python /opt/ros/groovy/bin/roslaunch' | grep -v grep;
do
  sleep 1;
  echo "Waiting...";
done