Eurobot-2026-Vision/camera_localization.sh at main · DIT-ROBOTICS/Eurobot-2026-Vision · GitHub

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#!/bin/bash

# 設定顯示環境
export DISPLAY=:1

# Source ROS 2 環境
source /opt/ros/humble/setup.bash
source /home/vision/vision_ws/install/setup.bash
# export ROS_DOMAIN_ID=13

# 取得輸入參數並轉為小寫
MODE=$(echo "$1" | tr '[:upper:]' '[:lower:]')
TEAM=$(echo "$2" | tr '[:upper:]' '[:lower:]')

# --- 參數檢查 ---
if [[ "$MODE" != "robot" && "$MODE" != "sima" && "$MODE" != "all" ]]; then
    echo "❌ Error: Invalid mode parameter."
    echo "Usage: bash run_robot.sh [robot|sima|all] [blue|yellow]"
    exit 1
fi

if [[ "$TEAM" != "blue" && "$TEAM" != "yellow" ]]; then
    echo "❌ Error: Invalid team parameter. Please specify 'blue' or 'yellow'."
    echo "Usage: bash run_robot.sh [robot|sima|all] [blue|yellow]"
    exit 1
fi

echo "🎨 Team Selected: $TEAM"

# --- 啟動邏輯 ---
case "$MODE" in
    "robot")
        echo "🚀 Starting Robot Mode ($TEAM team)..."
        ros2 launch aruco_robot robot_launch.py camera:=false rviz:=false team:=$TEAM
        ;;
    "sima")
        echo "🚀 Starting SIMA Mode ($TEAM team)..."
        ros2 launch aruco_sima sima_launch.py camera:=true rviz:=false team:=$TEAM
        ;;
    "all")
        echo "🚀 Starting BOTH Robot and SIMA ($TEAM team)..."
        ros2 launch aruco_robot robot_launch.py camera:=true rviz:=false team:=$TEAM &
        sleep 3
        ros2 launch aruco_sima sima_launch.py camera:=false rviz:=false team:=$TEAM
        ;;
esac