From 93324597fdd4d087a4e3f897d413647a7c7ea8d2 Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Tue, 4 Oct 2022 00:29:21 +0900
Subject: [PATCH] [jsk_fetch_startup] add config/config.bash and use it in
 robot.conf and install_supervisor.sh

---
 jsk_fetch_robot/jsk_fetch_startup/config/config.bash       | 7 +++++++
 .../jsk_fetch_startup/config/install_supervisor.sh         | 5 +++++
 .../jsk_fetch_startup/supervisor_scripts/robot.conf        | 2 +-
 3 files changed, 13 insertions(+), 1 deletion(-)
 create mode 100644 jsk_fetch_robot/jsk_fetch_startup/config/config.bash

diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/config.bash b/jsk_fetch_robot/jsk_fetch_startup/config/config.bash
new file mode 100644
index 0000000000..ea364d3b12
--- /dev/null
+++ b/jsk_fetch_robot/jsk_fetch_startup/config/config.bash
@@ -0,0 +1,7 @@
+# This file is bash configuration for robot.conf
+# This file must be at /var/lib/robot/config.bash
+
+export RS_SERIAL_NO_T265=""
+export RS_SERIAL_NO_D435_FRONTRIGHT=""
+export RS_SERIAL_NO_D435_FRONTLEFT=""
+export RS_SERIAL_NO_L515_HEAD=""
diff --git a/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh b/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh
index 9f77c428b9..d07fbfb529 100755
--- a/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh
+++ b/jsk_fetch_robot/jsk_fetch_startup/config/install_supervisor.sh
@@ -15,4 +15,9 @@ for file in $(ls ./*.conf); do
     echo "copied $file to /etc/supervisor/conf.d"
 done
 
+# copy config.bash to /var/lib/robo if not exists
+if [ ! -e /var/lib/robot/config.bash ]; then
+    sudo cp $jsk_fetch_startup/config/config.bash /var/lib/robot/config.bash
+fi
+
 set +x
diff --git a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot.conf b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot.conf
index d265c59b0d..0862a3af71 100644
--- a/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot.conf
+++ b/jsk_fetch_robot/jsk_fetch_startup/supervisor_scripts/robot.conf
@@ -1,5 +1,5 @@
 [program:robot]
-command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && rosrun jsk_fetch_startup link_calibration_files.bash && roslaunch jsk_fetch_startup fetch.launch launch_teleop:=false --wait --screen"
+command=/bin/bash -c ". /opt/ros/roscore_poststart.bash && . /home/fetch/ros/melodic/devel/setup.bash && if [ -e /var/lib/robot/config.bash ];then . /var/lib/robot/config.bash ;fi && rosrun jsk_fetch_startup link_calibration_files.bash && roslaunch jsk_fetch_startup fetch.launch launch_teleop:=false --wait --screen"
 stopsignal=TERM
 directory=/home/fetch/ros/melodic
 autostart=true