#!/bin/bash

# 检查参数数量
if [ "$#" -ne 1 ]; then
  echo "Error: Incorrect number of arguments"
  echo "Usage: $0 BAG_PATH"
  exit 1
fi

BAG_PATH=$1
WORD_GENERATION="/home/cicv/work/pji_desktop/simulation/catkin_map2gazebo/"

sleep 15
rosbag play $BAG_PATH
sleep 15

pkill -f "map2gazebo"
echo "Service map2gazebo stopped."

source activate simulation

cd $WORD_GENERATION

rm -r build devel
catkin_make
source devel/setup.bash

echo "Starting gazebo..."
nohup roslaunch map2gazebo gazebo_world.launch > ./gazebo_world.log 2>&1 &
disown