git commit -m "first commit for v2"

2025-12-29 16:21:22 +07:00
commit aa3d832d5c
1807 changed files with 307078 additions and 0 deletions
--- a/Devices/Packages/sick_line_guidance/turtlebotDemo/test/scripts/cleanup.bash
+++ b/Devices/Packages/sick_line_guidance/turtlebotDemo/test/scripts/cleanup.bash
@@ -0,0 +1,17 @@
+#!/bin/bash
+
+pushd ../../../../../
+source /opt/ros/melodic/setup.bash
+./src/sick_line_guidance_demo/test/scripts/killall.bash
+killall rosmaster ; sleep 1
+
+echo -e "\n# cleanup.bash: Deleting ros cache and logfiles and catkin folders ./build ./devel ./install"
+rosclean purge -y
+rm -rf ./build ./devel ./install
+rm -rf ~/.ros/*
+# rm -rf ~/.ros/log/*
+catkin clean --yes --all-profiles --verbose
+catkin_make clean
+popd
+if [ -f ./sick_line_guidance_demo.avi ] ; then rm -f ./sick_line_guidance_demo.avi ; fi
+
--- a/Devices/Packages/sick_line_guidance/turtlebotDemo/test/scripts/clion.bash
+++ b/Devices/Packages/sick_line_guidance/turtlebotDemo/test/scripts/clion.bash
@@ -0,0 +1,23 @@
+#!/bin/bash
+
+# init ros environment
+source /opt/ros/melodic/setup.bash
+source ../../../../../devel/setup.bash
+source ../../../../../install/setup.bash
+
+# start edit resource-files
+gedit ./rungeneric.bash ../../sick_line_guidance_demo/launch/sick_line_guidance_demo_node.launch ../../sick_line_guidance_demo/yaml/sick_line_guidance_demo.yaml &
+
+# start clion
+echo -e "Starting clion...\nNote in case of clion/cmake errors:"
+echo -e "  Click 'File' -> 'Reload Cmake Project'"
+echo -e "  cmake/clion: Project 'XXX' tried to find library '-lpthread' -> delete 'thread' from find_package(Boost ... COMPONENTS ...) in CMakeLists.txt"
+echo -e "  rm -rf ../../../.idea # removes all clion settings"
+echo -e "  rm -f ~/CMakeCache.txt"
+echo -e "  'File' -> 'Settings' -> 'CMake' -> 'CMake options' : CATKIN_DEVEL_PREFIX=~/TASK007_PA0100_ROS_Treiber_Spurfuehrungsssensor/catkin_ws/devel"
+echo -e "  'File' -> 'Settings' -> 'CMake' -> 'Generation path' : ../clion_build"
+
+pushd ../../../../..
+~/Public/clion-2018.3.3/bin/clion.sh ./src &
+popd
+
--- a/Devices/Packages/sick_line_guidance/turtlebotDemo/test/scripts/gitCloneInstall.bash
+++ b/Devices/Packages/sick_line_guidance/turtlebotDemo/test/scripts/gitCloneInstall.bash
@@ -0,0 +1,46 @@
+#!/bin/bash
+
+#
+# Get all packages for sick_line_guidance_demo,
+# build and install.
+#
+
+# Clean up
+# rosclean purge -y
+# rm -rf ./build ./devel ./install
+# rm -rf ~/.ros/*
+# catkin clean --yes --all-profiles --verbose
+# catkin_make clean 
+#
+# Install ros packages for turtlebot
+pushd ../../../../../src
+git clone https://github.com/ROBOTIS-GIT/turtlebot3.git
+git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
+git clone https://github.com/ROBOTIS-GIT/hls_lfcd_lds_driver.git
+git clone https://github.com/ros-drivers/rosserial.git
+# Install ros packages for turtlebot simulation
+git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations
+git clone https://github.com/ROBOTIS-GIT/turtlebot3_gazebo_plugin.git
+# Install can_open packages
+git clone https://github.com/ros-industrial/ros_canopen.git
+git clone https://github.com/CANopenNode/CANopenSocket.git
+git clone https://github.com/linux-can/can-utils.git
+# Install sick_line_guidance package
+git clone https://github.com/ros-planning/random_numbers.git
+git clone https://github.com/SICKAG/sick_line_guidance.git
+# Install ros packages required for robot_fsm
+git clone https://github.com/uos/sick_tim.git
+# Install video support for sick_line_guidance_demo
+sudo apt-get install ffmpeg
+sudo apt-get install vlc
+# Install profiling and performance tools
+git clone https://github.com/catkin/catkin_simple.git
+# git clone https://github.com/ethz-asl/schweizer_messer.git # toolbox including timing utilities
+sudo svn export https://github.com/ethz-asl/schweizer_messer/trunk/sm_common # common utilities from ethz-asl "schweizer messer" toolbox
+sudo svn export https://github.com/ethz-asl/schweizer_messer/trunk/sm_timing # timing utilities from ethz-asl "schweizer messer" toolbox
+sudo apt-get install google-perftools libgoogle-perftools-dev graphviz # libprofiler for profiling
+# Build and install
+cd ..
+catkin_make install --cmake-args -DTURTLEBOT_DEMO="ON"
+source ./install/setup.bash
+popd
--- a/Devices/Packages/sick_line_guidance/turtlebotDemo/test/scripts/killall.bash
+++ b/Devices/Packages/sick_line_guidance/turtlebotDemo/test/scripts/killall.bash
@@ -0,0 +1,5 @@
+#!/bin/bash
+
+echo -e "#\n# runsimu.bash: Stopping all rosnodes...\n# rosnode kill -a ; sleep 1 ; killall robot_fsm rqt_plot gzclient gzserver ; sleep 3\n#"
+rosnode kill -a ; sleep 1 ; killall robot_fsm ; killall rqt_plot gzclient ; sleep 1 ; killall gzserver ; sleep 3  # ; killall rosmaster ; sleep 1
+
--- a/Devices/Packages/sick_line_guidance/turtlebotDemo/test/scripts/make.bash
+++ b/Devices/Packages/sick_line_guidance/turtlebotDemo/test/scripts/make.bash
@@ -0,0 +1,41 @@
+#!/bin/bash
+
+#
+# Build and install sick_line_guidance_demo.
+# Use ./gitCloneInstall.bash to install required packages.
+#
+
+# delete old logfiles
+pushd ../../../../..
+rm -rf install/lib/sick_line_guidance/*
+rm -rf install/lib/sick_line_guidance_demo/*
+rm -rf install/share/sick_line_guidance/*
+rm -rf install/share/sick_line_guidance_demo/*
+rm -f build/catkin_make_install.log
+
+# make install, use cmake option TURTLEBOT_DEMO="ON" to include the sick_line_guidance_demo packages in folder turtlebotDemo
+source /opt/ros/melodic/setup.bash
+catkin_make         --cmake-args -DTURTLEBOT_DEMO="ON" 2>&1 | tee -a build/catkin_make_install.log
+catkin_make install --cmake-args -DTURTLEBOT_DEMO="ON" 2>&1 | tee -a build/catkin_make_install.log
+source ./install/setup.bash
+
+# lint, install by running
+# sudo apt-get install python-catkin-lint
+# catkin_lint -W1 src/sick_line_guidance_demo
+# catkin_lint -W1 src/sick_line_guidance
+# catkin_lint -W1 src/sick_line_guidance_demo/sick_line_guidance_demo
+
+# print warnings and errors
+echo -e "\nmake.bash finished.\n"
+echo -e "catkin_make warnings:"
+cat build/catkin_make_install.log | grep -i "warning:"
+echo -e "\ncatkin_make errors:"
+cat build/catkin_make_install.log | grep -i "error:"
+
+# print sick_line_guidance install files, libraries, executables
+echo -e "\ninstall/lib/sick_line_guidance:"
+ls -al install/lib/sick_line_guidance/*
+echo -e "\ninstall/share/sick_line_guidance:"
+ls install/share/sick_line_guidance/*.*
+popd
+
--- a/Devices/Packages/sick_line_guidance/turtlebotDemo/test/scripts/makeall.bash
+++ b/Devices/Packages/sick_line_guidance/turtlebotDemo/test/scripts/makeall.bash
@@ -0,0 +1,10 @@
+#!/bin/bash
+echo -e "makeall.bash: build and install ros sick_line_guidance driver and demo"
+sudo echo -e "makeall.bash started."
+# sudo apt-get install python-catkin-lint
+source /opt/ros/melodic/setup.bash
+./cleanup.bash
+./makepcan.bash
+./make.bash
+echo -e "makeall.bash finished."
+
--- a/Devices/Packages/sick_line_guidance/turtlebotDemo/test/scripts/makepcan.bash
+++ b/Devices/Packages/sick_line_guidance/turtlebotDemo/test/scripts/makepcan.bash
@@ -0,0 +1,41 @@
+#!/bin/bash
+
+# install packages required for peak can device driver
+
+if [ -f ../../../../../../peak_systems/pcanview-ncurses_0.8.7-0_amd64.deb ] ; then
+  pushd ../../../../../../peak_systems
+  sudo apt-get install libncurses5
+  sudo dpkg --install pcanview-ncurses_0.8.7-0_amd64.deb
+  popd
+fi
+
+# build and install peak can device driver
+
+if [ -d ../../../../../../peak_systems/peak-linux-driver-8.7.0 ] ; then
+  pushd ../../../../../../peak_systems/peak-linux-driver-8.7.0
+  # install required packages
+  sudo apt-get install can-utils
+  sudo apt-get install gcc-multilib
+  sudo apt-get install libelf-dev
+  sudo apt-get install libpopt-dev
+  sudo apt-get install tree
+  # build and install pcan driver
+  make clean
+  make NET=NETDEV_SUPPORT
+  sudo make install
+  # install the modules
+  sudo modprobe pcan
+  sudo modprobe can
+  sudo modprobe vcan
+  sudo modprobe slcan
+  # setup and configure "can0" net device
+  sudo ip link set can0 type can
+  sudo ip link set can0 up type can bitrate 125000 # configure the CAN bitrate, f.e. 125000 bit/s
+  # check installation
+  # ./driver/lspcan --all     # should print "pcanusb32" and pcan version
+  # tree /dev/pcan-usb        # should show a pcan-usb device
+  # ip -a link                # should print some "can0: ..." messages
+  ip -details link show can0  # should print some details about "can0" net device
+  popd
+fi
+
--- a/Devices/Packages/sick_line_guidance/turtlebotDemo/test/scripts/plotsimu.bash
+++ b/Devices/Packages/sick_line_guidance/turtlebotDemo/test/scripts/plotsimu.bash
@@ -0,0 +1,18 @@
+#!/bin/bash
+
+source ./simu_env.bash
+source ../../../../../install/setup.bash
+
+# rosrun rviz rviz &
+# roslaunch turtlebot3_gazebo turtlebot3_empty_world.launch &
+# rqt_plot /gazebo/model_states/pose[1]/position/x /gazebo/model_states/pose[1]/position/y & # display turtlebots (x,y) position over time
+
+rostopic list
+rostopic echo /cmd_vel &
+rostopic echo /fsm &
+rostopic echo /iam_state &
+# rostopic echo /odom &
+# rostopic echo /ols &
+# rostopic echo /gazebo/model_states
+# rostopic echo /gazebo/link_states
+
--- a/Devices/Packages/sick_line_guidance/turtlebotDemo/test/scripts/rungeneric.bash
+++ b/Devices/Packages/sick_line_guidance/turtlebotDemo/test/scripts/rungeneric.bash
@@ -0,0 +1,142 @@
+#!/bin/bash
+
+#
+# set environment, clear screen and logfiles
+#
+
+if [ ! -d ./log ] ; then mkdir -p ./log ; fi 
+if [ ! -d ~/.ros/log ] ; then mkdir -p ~/.ros/log ; fi 
+printf "\033c"
+rm -rf ./log/*
+source ./simu_env.bash
+pushd ../../../../..
+rm -rf ~/.ros/log/*
+# printf "\033c"
+source /opt/ros/melodic/setup.bash
+source ./install/setup.bash
+./src/sick_line_guidance/turtlebotDemo/test/scripts/killall.bash
+export LIBPROFILER=/usr/lib/x86_64-linux-gnu/libprofiler.so.0 # path to libprofiler.so.0 may depend on os version
+
+#
+# Start fsm, driver, nodes, tools and run the sick_line_guidance_demo simulation
+#
+
+# roscore &
+# sleep 10 # wait for roscore startup processes
+
+if [ "$TURTLEBOT_SIMULATION" == "1" ] ; then
+
+  # Start gazebo / turtlebot simulator
+  sleep 1 ; echo -e "#\n# runsimu.bash: starting gazebo ..."
+  sleep 1 ; roslaunch turtlebot3_gazebo turtlebot3_empty_world.launch &
+  sleep 10 # wait until gazebo has started ...
+  # Virtual navigation:
+  # roslaunch turtlebot3_gazebo turtlebot3_world.launch
+  # roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/map.yaml
+  export SICK_LINE_GUIDANCE_DEMO_LAUNCH_ARGS='ols_simu:=1'
+
+else # "$TURTLEBOT_SIMULATION" == "0"
+
+  if [ "$TURTLEBOT_STOP_AT_START" == "1" ] ; then # Stop turtlebot (set all velocities to 0 and restart turtlebot)
+    roslaunch turtlebot3_bringup turtlebot3_robot.launch &
+    sleep 15 ; rostopic pub --once /cmd_vel geometry_msgs/Twist '{linear:  {x: 0.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0,z: 0.0}}' # stop the turtlebot
+    sleep 1 ; rosnode kill turtlebot3_core ; sleep 1 ; rosnode kill turtlebot3_diagnostics
+  fi
+
+  # Init turtlebot
+  sleep 5 ; roslaunch turtlebot3_bringup turtlebot3_robot.launch &
+  sleep 15
+
+  # Start OLS20 driver or simulated OLS messages
+  if [ "$TURTLEBOT_OLS_SIMULATION" == "1" ] ; then # Run TurtleBot with simulated OLS messages
+    export SICK_LINE_GUIDANCE_DEMO_LAUNCH_ARGS='ols_simu:=1'
+  else #  "$TURTLEBOT_OLS_SIMULATION" == "0" # CAN initialization and start OLS20 driver 
+    # Init CAN and start OLS20 driver
+    sudo ip link set can0 up type can bitrate 125000 # configure can0
+    ip -details link show can0 # check status can0
+    # Start OLS20 driver
+    sleep 5 ; roslaunch -v --screen sick_line_guidance sick_line_guidance.launch yaml:=sick_line_guidance_ols20.yaml > ~/.ros/log/sick_line_guidance_ols20.log & 
+    sleep 10 ; export SICK_LINE_GUIDANCE_DEMO_LAUNCH_ARGS='ols_simu:=0'
+  fi # "$TURTLEBOT_OLS_SIMULATION"
+
+fi # "$TURTLEBOT_SIMULATION"
+
+# Start sick_line_guidance_demo simulation
+export SICK_LINE_GUIDANCE_DEMO_LAUNCH_ARGS=$SICK_LINE_GUIDANCE_DEMO_LAUNCH_ARGS' visualize:='$TURTLEBOT_VISUALIZE
+echo -e "#\n# runsimu.bash: starting simulation:\n# roslaunch sick_line_guidance_demo sick_line_guidance_demo_node.launch $SICK_LINE_GUIDANCE_DEMO_LAUNCH_ARGS \n#"
+
+if [ "$TURTLEBOT_PROFILING" == "1" ] ; then   # debug and profile sick_line_guidance_demo
+  rm -f /tmp/sick_line_guidance_demo.prof*    # remove previous profile logs
+  env CPUPROFILE=/tmp/sick_line_guidance_demo.prof LD_PRELOAD=$LIBPROFILER roslaunch sick_line_guidance_demo sick_line_guidance_demo_node.launch $SICK_LINE_GUIDANCE_DEMO_LAUNCH_ARGS &
+else  # run sick_line_guidance_demo
+  roslaunch -v --screen sick_line_guidance sick_line_guidance_demo_node.launch $SICK_LINE_GUIDANCE_DEMO_LAUNCH_ARGS 2>&1 | tee ~/.ros/log/sick_line_guidance_demo_node.log &
+fi
+sleep 10
+
+# Start sick_line_guidance watchdog run emergency exit to stop the TurtleBot after line lost for more than 1 second
+if ! [ "$TURTLEBOT_START_WATCHDOG_AFTER" == "" ] && [ $TURTLEBOT_START_WATCHDOG_AFTER -ge 0 ] ; then
+  sleep $TURTLEBOT_START_WATCHDOG_AFTER # start watchdog after a simulated OLS is close enough to a line
+  roslaunch -v --screen sick_line_guidance sick_line_guidance_watchdog.launch 2>&1 | tee ~/.ros/log/watchdog.log & # run watchdog
+fi
+
+#
+# Run sick_line_guidance_demo for a while: just wait for key 'q' or 'Q'
+# while ros nodes sick_line_guidance_demo_node and Robot_FSM are running
+#
+
+while true ; do  
+  echo -e "FSM and sick_line_guidance_demo simulation running. Press 'q' to exit..." ; read -t 0.1 -n1 -s key
+  if [[ $key = "q" ]] || [[ $key = "Q" ]]; then break ; fi
+done
+
+#
+# Stop turtlebot, fsm and sick_line_guidance_demo
+#
+
+rosnode kill sick_line_guidance_demo_node
+sleep 0.5 ; rostopic pub --once /cmd_vel geometry_msgs/Twist '{linear:  {x: 0.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0,z: 0.0}}' ; sleep 0.5 # stop the turtlebot
+./src/sick_line_guidance/turtlebotDemo/test/scripts/killall.bash
+
+#
+# Check errors and warnings in ros logfiles
+#
+echo -e "\n#\n# sick_line_guidance_demo simulation finished.\n#\n"
+grep "\[ WARN\]" ~/.ros/log/*.log ~/.ros/log/*/ros*.log ~/.ros/log/*.log >> ~/.ros/log/ros_log_warnings.txt
+grep "\[ERROR\]" ~/.ros/log/*.log ~/.ros/log/*/ros*.log ~/.ros/log/*.log >> ~/.ros/log/ros_log_errors.txt
+echo -e "\nSimulation warnings and errors:\n"
+cat ~/.ros/log/ros_log_warnings.txt
+cat ~/.ros/log/ros_log_errors.txt
+
+#
+# Profiling 
+#
+if [ "$TURTLEBOT_PROFILING" == "1" ] ; then
+  for proffile in /tmp/robot_fsm.prof* ; do 
+    google-pprof --pdf ./install/lib/iam/robot_fsm $proffile > $proffile.pdf
+  done
+  for proffile in /tmp/sick_line_guidance_demo.prof* ; do 
+    google-pprof --pdf ./install/lib/sick_line_guidance_demo/sick_line_guidance_demo_node $proffile > $proffile.pdf
+  done
+fi
+
+#
+# Play video recorded by sick_line_guidance_demo
+#
+popd
+cp ~/.ros/log/watchdog.log                     ./log
+cp ~/.ros/log/robot_fsm.log                    ./log
+cp ~/.ros/log/sick_line_guidance_demo_node.log ./log
+if [ "$TURTLEBOT_PROFILING" == "1" ] ; then
+  cp /tmp/robot_fsm.prof*.pdf                  ./log
+  cp /tmp/sick_line_guidance_demo.prof*.pdf    ./log
+fi
+if [ -f ~/.ros/sick_line_guidance_demo.avi ] ; then 
+  mv ~/.ros/sick_line_guidance_demo.avi ./log/sick_line_guidance_demo.avi
+  echo -e "\nCreated sick_line_guidance_demo.avi:"
+  ls -al ./log/sick_line_guidance_demo.avi
+  echo -e "ffplay ./sick_line_guidance_demo.avi ; # Use right mouse button to seek forward/backward, 'p' for pause/resume"
+  ffplay ./log/sick_line_guidance_demo.avi
+  echo -e "\n"
+fi
+ls -al ./log/*
+
--- a/Devices/Packages/sick_line_guidance/turtlebotDemo/test/scripts/runsimu.bash
+++ b/Devices/Packages/sick_line_guidance/turtlebotDemo/test/scripts/runsimu.bash
@@ -0,0 +1,10 @@
+#!/bin/bash
+
+export TURTLEBOT_SIMULATION=1
+export TURTLEBOT_OLS_SIMULATION=1
+export TURTLEBOT_VISUALIZE=2
+export TURTLEBOT_START_WATCHDOG_AFTER=-1 # 60
+export TURTLEBOT_PROFILING=0
+export TURTLEBOT_STOP_AT_START=0
+./rungeneric.bash
+
--- a/Devices/Packages/sick_line_guidance/turtlebotDemo/test/scripts/runturtlebot.bash
+++ b/Devices/Packages/sick_line_guidance/turtlebotDemo/test/scripts/runturtlebot.bash
@@ -0,0 +1,10 @@
+#!/bin/bash
+
+export TURTLEBOT_SIMULATION=0
+export TURTLEBOT_OLS_SIMULATION=0
+export TURTLEBOT_VISUALIZE=0
+export TURTLEBOT_START_WATCHDOG_AFTER=0
+export TURTLEBOT_PROFILING=0
+export TURTLEBOT_STOP_AT_START=0
+./rungeneric.bash
+
--- a/Devices/Packages/sick_line_guidance/turtlebotDemo/test/scripts/runturtlebot_olssimu.bash
+++ b/Devices/Packages/sick_line_guidance/turtlebotDemo/test/scripts/runturtlebot_olssimu.bash
@@ -0,0 +1,10 @@
+#!/bin/bash
+
+export TURTLEBOT_SIMULATION=0
+export TURTLEBOT_OLS_SIMULATION=1
+export TURTLEBOT_VISUALIZE=0
+export TURTLEBOT_START_WATCHDOG_AFTER=60
+export TURTLEBOT_PROFILING=0
+export TURTLEBOT_STOP_AT_START=0
+./rungeneric.bash
+
--- a/Devices/Packages/sick_line_guidance/turtlebotDemo/test/scripts/simu_env.bash
+++ b/Devices/Packages/sick_line_guidance/turtlebotDemo/test/scripts/simu_env.bash
@@ -0,0 +1,12 @@
+#!/bin/bash
+
+#
+# set environment for sick_line_guidance_demo simulation
+#
+
+export ROS_MASTER_URI=http://127.0.0.1:11311
+export ROS_HOSTNAME=127.0.0.1
+export TURTLEBOT3_MODEL=waffle
+export SVGA_VGPU10=0           # otherwise "roslaunch turtlebot3_gazebo" may fail when running in VMware
+export LIBGL_ALWAYS_SOFTWARE=1 # otherwise "roslaunch turtlebot3_gazebo" may fail when running in VMware
+
--- a/Devices/Packages/sick_line_guidance/turtlebotDemo/test/scripts/stopturtlebot.bash
+++ b/Devices/Packages/sick_line_guidance/turtlebotDemo/test/scripts/stopturtlebot.bash
@@ -0,0 +1,28 @@
+#!/bin/bash
+
+#
+# stop the turtlebot
+#
+
+# environment
+pushd ../../../../..
+source /opt/ros/melodic/setup.bash
+source ./install/setup.bash
+echo -e "#\n#stop turtlebot...\n#"
+
+# kill all ros nodes
+rosnode kill -a
+sleep 0.3
+killall -9 robot_fsm
+
+# init turtlebot and send velocity 0.0
+roslaunch turtlebot3_bringup turtlebot3_robot.launch &
+sleep 1
+for ((i=1;i<=20;i++)) ; do  
+  rostopic pub --once /cmd_vel geometry_msgs/Twist '{linear:  {x: 0.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0,z: 0.0}}'
+  sleep 0.5
+done
+
+# stop turtlebot ros node
+rosnode kill -a
+
--- a/Devices/Packages/sick_line_guidance/turtlebotDemo/test/scripts/testturtlebot.bash
+++ b/Devices/Packages/sick_line_guidance/turtlebotDemo/test/scripts/testturtlebot.bash
@@ -0,0 +1,90 @@
+#!/bin/bash
+
+#
+# simple turtlebot test, drives a figure of eight
+#
+
+#
+# set environment, clear screen and logfiles
+#
+
+export TURTLEBOT_SIMULATION=0 # 1
+export ROS_MASTER_URI=http://127.0.0.1:11311
+export ROS_HOSTNAME=127.0.0.1
+export TURTLEBOT3_MODEL=waffle
+export SVGA_VGPU10=0           # otherwise "roslaunch turtlebot3_gazebo" may fail when running in VMware
+export LIBGL_ALWAYS_SOFTWARE=1 # otherwise "roslaunch turtlebot3_gazebo" may fail when running in VMware
+
+if [ ! -d ./log ] ; then mkdir -p ./log ; fi 
+if [ ! -d ~/.ros/log ] ; then mkdir -p ~/.ros/log ; fi 
+printf "\033c"
+rm -rf ./log/*
+pushd ../../../../..
+rm -rf ~/.ros/log/*
+source /opt/ros/melodic/setup.bash
+source ./install/setup.bash
+rosnode kill -a
+sleep 5
+
+#
+# Start turtlebot resp. turtlebot simulation
+#
+
+if [ "$TURTLEBOT_SIMULATION" == "1" ] ; then
+  rosnode kill -a ; sleep 1 ; killall rqt_plot gzclient ; sleep 1 ; killall gzserver ; sleep 3
+  roslaunch turtlebot3_gazebo turtlebot3_empty_world.launch 2>&1 &
+else
+  roslaunch turtlebot3_bringup turtlebot3_robot.launch 2>&1 | tee ~/.ros/log/turtlebot3_bringup.log &
+  # Init CAN and start OLS20 driver
+  sudo ip link set can0 up type can bitrate 125000 # configure can0
+  ip -details link show can0 # check status can0
+  sleep 1 ; roslaunch -v --screen sick_line_guidance sick_line_guidance.launch yaml:=sick_line_guidance_ols20.yaml > ~/.ros/log/sick_line_guidance_ols20.log & 
+fi
+sleep 15
+
+#
+# Send some cmd_vel messages to test
+#
+
+# for ((i=1;i<=20;i++)) ; do  
+#   rostopic pub --once /cmd_vel geometry_msgs/Twist '{linear:  {x: 0.1, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0,z: -0.4}}' &
+#   sleep 0.1
+# done
+# for ((i=1;i<=20;i++)) ; do  
+#   rostopic pub --once /cmd_vel geometry_msgs/Twist '{linear:  {x: 0.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0,z: 0.0}}' &
+#   sleep 0.1
+# done
+
+
+#
+# Start turtlebot_test_fsm_node
+#
+
+roslaunch -v --screen sick_line_guidance_demo turtlebot_test_fsm_node.launch & # 2>&1 | tee ~/.ros/log/turtlebot_test_fsm_node.log &
+# roslaunch -v --screen sick_line_guidance_demo sick_line_guidance_demo_node.launch ols_simu:=0 visualize:=0 2>&1 | tee ~/.ros/log/sick_line_guidance_demo_node.log &
+
+#
+# Run turtlebot_test_fsm_node for a while: just wait for key 'q' or 'Q'
+# while ros node turtlebot_test_fsm_node is running
+#
+
+while true ; do  
+  echo -e "turtlebot_test_fsm_node running. Press 'q' to exit..." ; read -t 1.0 -n1 -s key
+  if [[ $key = "q" ]] || [[ $key = "Q" ]]; then break ; fi
+done
+
+#
+# Stop turtlebot_test_fsm_node
+#
+
+rosnode kill turtlebot_test_fsm_node
+sleep 0.5 ; rostopic pub --once /cmd_vel geometry_msgs/Twist '{linear:  {x: 0.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0,z: 0.0}}' ; sleep 0.5 # stop the turtlebot
+rosnode kill -a
+
+popd
+cp ~/.ros/log/turtlebot_test_fsm_node.log  ./log
+cp ~/.ros/log/sick_line_guidance_ols20.log ./log
+cp ~/.ros/log/turtlebot3_bringup.log       ./log
+ls -al ./log/*
+
+