robot-ws/cmd_run.bash at main · DarmawanRobotics/robot-ws · GitHub

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#!/usr/bin/env bash
# navigation_run_tmux_seq.sh

SESSION="mecanum_navigation"

# ---------------- CLEANUP ----------------
tmux kill-session -t $SESSION 2>/dev/null

# ---------------- TMUX SESSION ----------------
tmux new-session -d -s $SESSION -n "robot"

# Split into 10 panes
tmux split-window -h -t $SESSION
tmux split-window -h -t $SESSION
tmux split-window -h -t $SESSION
tmux split-window -h -t $SESSION
tmux split-window -v -t $SESSION:0.0
tmux split-window -v -t $SESSION:0.0
tmux split-window -v -t $SESSION:0.0
tmux split-window -v -t $SESSION:0.4
tmux split-window -v -t $SESSION:0.8   # extra empty pane

tmux select-layout -t $SESSION:0 tiled

# ---------------- PANES (SEQUENTIAL STARTUP) ----------------

# Pane 0: roscore
tmux send-keys -t $SESSION:0.0 "~/robot-ws/scripts/run_roscore.sh" C-m
sleep 5

# Pane 1: rplidar
tmux send-keys -t $SESSION:0.1 "~/robot-ws/scripts/run_rplidar.sh" C-m
sleep 5

# Pane 2: odometry / IO
tmux send-keys -t $SESSION:0.2 "~/robot-ws/scripts/run_io.sh" C-m
sleep 3

# Pane 3: localization / static TF
tmux send-keys -t $SESSION:0.3 "~/robot-ws/scripts/run_localization.sh" C-m
sleep 2

# Pane 4: controller (cmd_vel → wheels)
tmux send-keys -t $SESSION:0.4 "~/robot-ws/scripts/run_controller.sh" C-m
sleep 2

# Pane 5: autonomy / AMCL
tmux send-keys -t $SESSION:0.5 "~/robot-ws/scripts/run_autonomy.sh" C-m
sleep 3

# Pane 6: EMPTY (manual commands)
tmux send-keys -t $SESSION:0.6 "echo '[Pane 6] Manual command terminal'" C-m

# Pane 7: EMPTY (manual / debug)
tmux send-keys -t $SESSION:0.7 "echo '[Pane 7] Free terminal'" C-m

# Pane 8: Monitor
tmux send-keys -t $SESSION:0.8 "echo '[Pane 8] Monitoring (rqt, rostopic, etc)'" C-m

# Pane 9: EXTRA EMPTY terminal
tmux send-keys -t $SESSION:0.9 "echo '[Pane 9] Extra free terminal'" C-m

# ---------------- ATTACH ----------------
tmux attach -t $SESSION