From 105125da0acf1559053e96e7cd8084b4050c5c88 Mon Sep 17 00:00:00 2001
From: Rutvik Patel <rutvik.p4t3l@gmail.com>
Date: Tue, 21 Jun 2022 18:01:41 +0530
Subject: [PATCH] Add home_service.sh script

---
 my_robot/launch/view_navigation.launch |  2 +-
 scripts/home_service.sh                | 27 ++++++++++++++++++++++++++
 2 files changed, 28 insertions(+), 1 deletion(-)
 create mode 100644 scripts/home_service.sh

diff --git a/my_robot/launch/view_navigation.launch b/my_robot/launch/view_navigation.launch
index dca4c48..febc316 100644
--- a/my_robot/launch/view_navigation.launch
+++ b/my_robot/launch/view_navigation.launch
@@ -3,7 +3,7 @@
 <launch>
 
   <node name="rviz" pkg="rviz" type="rviz" respawn="false"
-    args=" -d $(find my_robot)/rvizConfig/viz-test-nav.rviz"
+    args=" -d $(find my_robot)/rvizConfig/viz-test-marker.rviz"
   />
 
 </launch>
\ No newline at end of file
diff --git a/scripts/home_service.sh b/scripts/home_service.sh
new file mode 100644
index 0000000..789cd4d
--- /dev/null
+++ b/scripts/home_service.sh
@@ -0,0 +1,27 @@
+#!/bin/sh
+
+# Move to catkin_ws root
+cd ../../
+
+# Launch the world containing the robot
+xterm -e " source devel/setup.bash; roslaunch my_robot world.launch " &
+
+sleep 10
+
+# Launch amcl package for localization
+xterm -e " source devel/setup.bash; roslaunch my_robot amcl.launch " &
+
+sleep 5
+
+# Launch rviz to localize the results
+xterm -e " source devel/setup.bash; roslaunch my_robot view_navigation.launch " &
+
+sleep 5
+
+# Launch add_markers to vizualize objects in rviz
+xterm -e " source devel/setup.bash; roslaunch my_robot add_markers.launch " &
+
+sleep 5
+
+# Launch pick_object to guide robot across the map
+xterm -e " source devel/setup.bash; roslaunch my_robot pick_objects.launch " &
\ No newline at end of file