#!/bin/bash
# 检查到未定义的变量则停止执行并报错
set -u
source /home/cicv/work/pji_desktop/config.sh
## 检查参数数量
#if [ "$#" -ne 6 ]; then
#  echo "Error: Incorrect number of arguments"
#  echo "Usage: $0 IMAGE_NAME CONTAINER_NAME WORLD_NAME MAP_PGM_NAME MAP_YAML_NAME BUILD_MAP_NAME"
#  exit 1
#fi

#SIMULATION_PATH="/home/cicv/work/pji_desktop/simulation"

source activate simulation

# 轨迹生成
## 清理环境
killall -9 roscore # 如果提示未找到进程不用管，继续执行下一条
killall -9 rosmaster
## 配置环境
cd "$SIMULATION_PATH"/track_space
safe-rm -r build devel
catkin_make
source devel/setup.bash
## 在新终端中运行roscore
pkill -f "roscore"
#gnome-terminal --tab -e 'bash -c "roscore"'
nohup roscore >/dev/null 2>&1 &
sleep 2
## 生成轨迹图片
rosrun trajectory demo_node "$SIMULATION_PATH"/data/map_bag/map.bag \
      "$SIMULATION_PATH"/data/record_bag/test-1.bag \
      "$SIMULATION_PATH"/data/evaluation/trackPicture/test.png

# 算法评价
cd "$SIMULATION_PATH"/pji_single/run

./pji_single "$SIMULATION_PATH"/data/record_bag/test-1.bag \
      "$SIMULATION_PATH"/data/evaluation/result  \
      "$SIMULATION_PATH"/data/evaluation/trackPicture/test.png