#! /bin/bash

#export WORKSPACE=navigation_ros_ws
#source ${HOME}/${WORKSPACE}/install_dev/bashrc.sh

#printenv | grep -i ROS
# export remoteUsername=abc
# export remotePasswd=123456
sshToRemote=false


export remoteIP=192.168.191.176
export localIP=192.168.191.24

export ROS_MASTER_URI=http://${localIP}:11311
export ROS_IP=${localIP}

export UBUNTU_VERSION=$(lsb_release -r --short)
#echo "ubuntu_version: "${UBUNTU_VERSION}

    export ROS1_VERSION=noetic
    export ROS2_VERSION=foxy


export TURTLEBOT3_MODEL=waffle
source /opt/ros/${ROS1_VERSION}/setup.bash
source ${HOME}/${WORKSPACE}/devel/setup.bash

#alias navigation="roslaunch robot_launch navigationCartographerLocation.launch"
alias cartographerLocation="roslaunch robot_launch cartographerLocation.launch"
alias robot_decription="roslaunch robot_launch robot_description.launch"
alias movebase="roslaunch robot_launch move_base.launch.xml"
alias key="roslaunch robot_launch keyboard_teleop.launch"
alias navigation="roslaunch robot_launch move_base_amcl.launch"
alias slam="roslaunch lio_sam run.launch"
alias location="roslaunch lio_sam_location run_relocalize.launch"
alias base="source ${HOME}/sensor_enable/devel/setup.bash&&roslaunch rtk_ros test.launch"
alias lidar="roslaunch robot_launch rplidar_a3.launch"
alias imunode="roslaunch fdilink_ahrs ahrs_data.launch"
alias lidarnode="source ${HOME}/sensor_ros_2/devel/setup.bash&&roslaunch  lslidar_driver  lslidar_c16.launch"
#alias lidar="roslaunch robot_launch rplidar_s2.launch"
#alias imunode="roslaunch robot_launch imu.launch"
alias baselidar="roslaunch robot_launch base_lidar.launch"
alias joy="roslaunch robot_launch xbox360_teleop.launch"
alias unity="roslaunch robot_launch unity_start.launch"
alias savemap="rosrun map_server map_saver -f  ${HOME}/${WORKSPACE}/src/robot_launch/maps/map"
alias pubNormalGoals="python ${HOME}/${WORKSPACE}/install_dev/actionClient/pubNormalGoals.py"
alias pubStopGoal="python ${HOME}/${WORKSPACE}/install_dev/actionClient/pubStop.py"
#alias pubGoal="python3 ${HOME}/${WORKSPACE}/install_dev/actionClient/pubGoal.py"
alias pubGoalF="python3 ${HOME}/${WORKSPACE}/install_dev/actionClient/pubGoalF.py"
alias pubGoalB="python3 ${HOME}/${WORKSPACE}/install_dev/actionClient/pubGoalB.py"
alias pubInitPose="python3 ${HOME}/${WORKSPACE}/install_dev/actionClient/pubInitPose.py"
alias pubGoalSmallMotion="python ${HOME}/${WORKSPACE}/install_dev/actionClient/pubGoalSmallMotion.py"
alias triggerAutoCharge="rostopic pub /triggerAutoCharge std_msgs/Empty "{}""
alias log="tail -f ${HOME}/srirobotLog/sriLog.log"
alias tflidar="roslaunch fdilink_ahrs tf_lidar.launch"
alias recordlidarimu="cd ${HOME}/${WORKSPACE}/bag&&rosbag record /lslidar_point_cloud /imu_raw"
alias tfimu="roslaunch fdilink_ahrs tf.launch"
alias mk="cd ${HOME}/${WORKSPACE}&&catkin_make -DCATKIN_WHITELIST_PACKAGES='move_base'"
alias mkall="cd ${HOME}/${WORKSPACE}&&catkin_make -DCATKIN_WHITELIST_PACKAGES=''"
alias cdws="cd ${HOME}/${WORKSPACE}/src"
alias rmws="rm -rf ${HOME}/${WORKSPACE}/devel&&rm -rf ${HOME}/${WORKSPACE}/build"
alias cmk="cd ${HOME}/${WORKSPACE}/src/cppTest/&&${HOME}/${WORKSPACE}/src/cppTest/make.sh&&cd ./bin"
alias rmcmk="cd ${HOME}/${WORKSPACE}/src/cppTest/build/&&rm -rf ./*&&rm -rf ../bin/**&&cd ~"
alias hinge="rosrun hinge_car_navigation hinge_car_navigation_node "
alias mkhinge="cd ${HOME}/${WORKSPACE}&&catkin_make -DCATKIN_WHITELIST_PACKAGES='hinge_car_navigation'"




alias scan="rostopic echo /scan"
alias odom="rostopic echo /odom"
alias imu="rostopic echo /imu"
alias map="rostopic echo /map"
alias cmd="rostopic echo /yocs_cmd_vel_mux/input/navigation"
alias krviz="roslaunch robot_launch rviz.launch"
alias testunity="rosrun unity_nav unity_test.py"




alias ipscan="echo ==start ipscan==&&sudo nmap -sP 192.168.1.0/24"

alias plotjuggler="rosrun plotjuggler plotjuggler"
#查看usb,串口
alias usbls="ls -al /dev |grep ttyUSB"
alias serialls="ls -al /dev |grep ttyS"

#查看当前目录下的文件和文件夹磁盘占用情况
alias lsdir="sudo du -h --max-depth=1 | sort -hr | head"
alias lsdirall="sudo du -h --max-depth=1 | sort -hr"
alias lsdirhead="sudo du -sh * | sort -hr | head"

alias tmk="cd ${HOME}/${WORKSPACE}&&catkin_make run_tests_test_roscpp"
alias rosenv="echo $ROS_PACKAGE_PATH"
alias depthcamera="roslaunch costmap_depth_camera costmap_depth_camera.launch"

#gdb launch file add "launch-prefix="gdb -ex run --args"
alias dmk="cd ${HOME}/${WORKSPACE}&&catkin_make -DCMAKE_BUILD_TYPE=Debug"
alias camera="${HOME}/${WORKSPACE}/install_dev/camera/camera.sh"

alias sshremote="sshpass -p ${remotePasswd} ssh ${remoteUsername}@${remoteIP}"
alias sshrpdzkj="sshpass -p rpdzkj ssh rpdzkj@${remoteIP}"
alias sshabc="sshpass -p 123456 ssh abc@192.168.10.119"
alias sshsri="sshpass -p 123456 ssh sri@192.168.10.112"
alias sam="bash ${HOME}/sensor_enable/src/plc_modbus/launch/start.sh"

alias sourceros="source /opt/ros/${ROS1_VERSION}/setup.bash"
alias lioslamros1="source /opt/ros/${ROS1_VERSION}/setup.bash&&source ${HOME}/ros1_lioslam_ws/devel/setup.bash&&roslaunch lio_sam run.launch"
alias lioslamros2="source /opt/ros/${ROS2_VERSION}/setup.bash&&source ${HOME}/ros2_lioslam_ws/install/setup.bash&&ros2 launch lio_sam run.launch.py"
alias playbagros2="source /opt/ros/${ROS2_VERSION}/setup.bash&&cd ${HOME}/bag&&ros2 bag play ${bagname}"
alias playbagros1="source /opt/ros/${ROS1_VERSION}/setup.bash&&cd ${HOME}/bag&&ros2 bag play ${bagname}"
alias log="tail -f ${HOME}/srirobotLog/sriLog.log"
alias fastgithub="sudo ${HOME}/${WORKSPACE}/install_dev/installPackage/fastgithub_linux-x64/fastgithub"

#tool
alias opencvVersion="pkg-config --modversion opencv"
alias psros="ps -ef |grep rosmaster"
alias killros="ps -ef| grep ros |grep -v grep |awk '{print $2}' |xargs kill -9"

#ros auto start
# alias autoStart="${HOME}/${WORKSPACE}/install_dev/autoStartROS/autoStartROS.sh"
# alias unautoStart="rosrun robot_upstart uninstall robot"
# alias start="sudo service robot start"
# alias stop="sudo service robot stop"
# alias restart="sudo service robot restart"