ros.bash

#!/bin/bash

RP_BASEDIR=~/Code/ros

export TURTLEBOT_BASE=kobuki
export TURTLEBOT_STACKS=hexagons
export TURTLEBOT_3D_SENSOR=kinect

# source /opt/ros/groovy/setup.bash
source /home/opt/ros-hydro-ws/install_isolated/setup.bash

# Check where should ros master be (first argument of the script)
if [ "$#" -eq 1 ] ; then
	if [[ "$1" == [0-9][0-9] ]] ; then
		export ROS_MASTER_URI=http://tbot-unit$1:11311
	else
		export ROS_MASTER_URI=http://$1:11311
	fi
else
	export ROS_MASTER_URI=http://localhost:11311
fi

# Export extended package path
export ROS_PACKAGE_PATH=$RP_BASEDIR/twistbot_robot:$RP_BASEDIR/twistbot_core:$RP_BASEDIR/twist_helper:$RP_BASEDIR/omf_ros_bridge:$RP_BASEDIR/twist_vis:$ROS_PACKAGE_PATH

# Check VPN connection.
#  DNS resolution will not work in that case
TUNIP=`ip -f inet -o addr show tun0 2>/dev/null | awk '{print $4}'`
if [ ! -z "$TUNIP" ]; then
    export ROS_HOSTNAME=$TUNIP
    echo "Detected VPN connection."
    echo "ROS_HOSTNAME=$ROS_HOSTNAME"
fi

echo "ROS_MASTER_URI=$ROS_MASTER_URI"