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ebc741f | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 | #!/usr/bin/env bash
# Run OpenVLA-Micro on the Nova Carter diff-drive robot.
# Starts: Kinect driver → VLA inference → instruction CLI
set -e
SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)"
source /opt/ros/lyrical/setup.bash
# Kill existing pipeline
echo 1121 | sudo -S pkill -9 -f kinect_driver 2>/dev/null || true
echo 1121 | sudo -S pkill -9 -f vla_micro_ros2_node 2>/dev/null || true
echo 1121 | sudo -S pkill -9 -f vla_waypoint_follower 2>/dev/null || true
echo 1121 | sudo -S pkill -9 -f instruction_cli 2>/dev/null || true
echo 1121 | sudo -S pkill -9 -f freenect 2>/dev/null || true
sleep 2
echo "Starting OpenVLA-Micro pipeline..."
python3 /home/robotai/kinect_driver.py &
PID_KINECT=$!
sleep 3
python3 "$SCRIPT_DIR/vla_micro_ros2_node.py" &
PID_VLA=$!
sleep 5
python3 /home/robotai/instruction_cli.py &
PID_CLI=$!
trap "echo 1121 | sudo -S kill $PID_KINECT $PID_VLA $PID_CLI 2>/dev/null; echo Stopped" EXIT INT TERM
echo "All nodes running. Instructions via instruction_cli."
wait
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