rebuild and relaunch scripts for C++ ROS projects

builder.sh

#!/bin/sh

WATCH_DIRS=(~/catkin_ws/src/ros-project/src/perception/src ~/catkin_ws/src/ros-project/src/perception/include/perception)

inotifywait -m ${WATCH_DIRS[@]} -e close_write |
    while read path action file; do
        if [[ "$file" =~ .*cpp$ ]] || [[ "$file" =~ .*h$ ]]; then
            echo "$file modified, rebuilding..."
            if catkin --force-color build | grep "succeeded!"; then
                rosnode kill process_cloud_main
            fi
        fi
    done

launcher.sh

#!/bin/sh

PID=""
function get_pid {
    PID=`pidof process_cloud_main`
}

function start {
    get_pid
    if [ -z $PID ]; then
        echo "Launching roslaunch"
        roslaunch perception perception.launch &
        get_pid
    fi
}

while true; do
    get_pid
    if [ -z $PID ]; then
        start
    fi
    sleep 5
done