Launching ROS1 commands from Java

ros.sh

#!/bin/bash
#setup ROS1 environment and execute params as single quoted string

# loads ROS environment
source $HOME/stuff/cartographer_catkin_ws/install_isolated/setup.bash
source $HOME/catkin_ws/devel/setup.bash --extend

rosclean purge -y

if ! rostopic list
  then
    roscore &
    sleep 5
fi

date >> logs/ros.log

if [ -z "$@" ]; then
	exit 1
fi


echo $@ >> logs/ros.log
stdbuf -o0 $@ >> logs/ros.log 2>&1 &

#print PID of last command
echo PID: $!