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aichallenge_2023/main.bash

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+#!/bin/bash
+
+export PATH="$PATH:/root/.local/bin"
+export PATH="/usr/local/cuda/bin:$PATH"
+export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+export XDG_RUNTIME_DIR=/tmp/xdg
+export ROS_LOCALHOST_ONLY=1
+
+# Launch AWSIM
+echo "Launch AWSIM"
+sudo ip link set multicast on lo
+source /aichallenge/aichallenge_ws/install/setup.bash
+/aichallenge/AWSIM/AWSIM.x86_64 &
+
+sleep 20
+
+cd /output
+
+# Launch Autoware
+echo "Launch user Autoware code"
+source /aichallenge/aichallenge_ws/install/setup.bash
+ros2 launch aichallenge_launch aichallenge.launch.xml > autoware.log 2>&1 &
+ROSLAUNCH_PID=$!
+
+sleep 10
+
+# Record rosbag
+ros2 bag record -a -o rosbag2_autoware &
+ROSBAG_RECORD_PID=$!
+
+# Waiting for Service Launch
+echo "Waiting for Service Launch"
+COUNT=0
+until (ros2 service type /debug/service/capture_screen) 
+do 
+    if [ $COUNT -ge 36 ]; then
+	echo "timeout count: $COUNT"
+	break
+    fi
+    echo "Waiting for Service Launch"
+    ((COUNT+=1))
+    sleep 5
+done
+
+# Start Recording Rviz2
+if ros2 service type /debug/service/capture_screen; then
+    ros2 service call /debug/service/capture_screen std_srvs/srv/Trigger
+fi
+
+# Wait result.js
+echo "Wait for result.json"
+COUNT=0
+until [ -f ~/awsim-logs/result.json ]
+do
+  if [ $COUNT -ge 240 ]; then
+     echo "timeout count: $COUNT"
+     break
+  fi
+  ((COUNT+=1))
+  sleep 5
+done
+
+# Stop Recording Rviz2
+if ros2 service type /debug/service/capture_screen; then
+    ros2 service call /debug/service/capture_screen std_srvs/srv/Trigger
+fi
+
+sleep 10
+
+## Save rosbag and log
+kill $ROSBAG_RECORD_PID
+kill $ROSLAUNCH_PID
+
+sleep 10
+
+## Compress rosbag
+tar -czf rosbag2_autoware.tar.gz rosbag2_autoware
+
+sleep 5
+
+echo "Generation of result.json is completed."
+cp ~/awsim-logs/result.json /output
+cp ~/awsim-logs/verbose_result.json /output
+# cp /autoware.log /output
+# cp /rosbag2_autoware.tar.gz /output