X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=.screen-startup;h=28799d90a4f3d917bc495d2d0ece1027665ca61b;hp=64314b7afe1771176a2350e1845cccf2a3834684;hb=2f194b3fe82009a77b79021f0c57e6ca55c1706f;hpb=3e393a12f0aea0302fefa4616dcd93c1b3bf6299

diff --git a/.screen-startup b/.screen-startup
index 64314b7..28799d9 100644
--- a/.screen-startup
+++ b/.screen-startup
@@ -3,8 +3,10 @@
 
 source $HOME/.screenrc
 
-screen 0 zsh -is eval 'roscore'
+screen 0 zsh -is eval 'sleep 10; roscore'
 screen 1 zsh -is eval 'roslaunch --wait wild_thumper wild_thumper.launch'
-screen 2 zsh -is eval 'roslaunch --wait wild_thumper teleop.launch'
+screen 2 zsh -is eval '(($(/usr/sbin/i2cget -y 2 0x38 || echo 0xff) & 0x01)) || roslaunch --wait wild_thumper teleop.launch'
+#screen 3 zsh -is eval '(($(/usr/sbin/i2cget -y 2 0x38 || echo 0xff) & 0x02)) || roslaunch --wait wild_thumper move_base.launch'
+#screen 4 zsh -is eval '(($(/usr/sbin/i2cget -y 2 0x38 || echo 0xff) & 0x02)) || (sleep 20 && rosservice call global_localization)'
 #screen 3 zsh -is eval 'roslaunch --wait wild_thumper move_base.launch nomap:=true'
 select 2