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- #!/bin/bash
- DIR=$(cd $(dirname $0) ; pwd)
- if [ $# -lt 4 ]; then
- echo "Usage: $0 <port> <baud> <mode> <freqency> <wait_sec>"
- echo " ex. $0 /dev/ttyUSB0 115200 2 100 3"
- exit 1
- fi
- PORT=$1
- BAUD=$2
- MODE=$3
- FREQ=$4
- WSEC=$5
- ${DIR}/add_perm.sh 0666 ${PORT} || exit 1
- ARGS="port:=${PORT} baudrate:=${BAUD} mode:=${MODE} frequency:=${FREQ}"
- roslaunch xsens_driver mti300.launch ${ARGS} boot_device:=true
- sleep ${WSEC}
- roslaunch xsens_driver mti300.launch ${ARGS} boot_device:=false
- # EOF
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