From e84557340a65a157ddbb5fb5c6b985118997ca1c Mon Sep 17 00:00:00 2001
From: Ramon Wijnands <rayman747@hotmail.com>
Date: Fri, 20 Nov 2015 17:13:14 +0100
Subject: [PATCH] make the travis setup_examples.sh script more robust

- use roslaunch to deduplicate launching effort
- use rostopic info to check for the last node's topic existance
- return a status code based on if it succeeded
---
 test/examples/setup_examples.launch |  1 +
 test/examples/setup_examples.sh     | 30 ++++++++++++++++-------------
 2 files changed, 18 insertions(+), 13 deletions(-)

diff --git a/test/examples/setup_examples.launch b/test/examples/setup_examples.launch
index eb240cdd7..7b36ff1db 100644
--- a/test/examples/setup_examples.launch
+++ b/test/examples/setup_examples.launch
@@ -2,6 +2,7 @@
   <include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch" />
   <node name="tf_publisher" pkg="tf" type="static_transform_publisher" args="0 0 0 0 0 0 /world /turtle1 100" />
   <node name="tf2_web_republisher" pkg="tf2_web_republisher" type="tf2_web_republisher" />
+  <node name="fibonacci_server" pkg="actionlib_tutorials" type="fibonacci_server" />
   <node name="add_two_ints_server" pkg="rospy_tutorials" type="add_two_ints_server" />
   <node name="hello_world_publisher" pkg="rostopic" type="rostopic" args='pub /listener std_msgs/String "Hello, World"' />
 </launch>
diff --git a/test/examples/setup_examples.sh b/test/examples/setup_examples.sh
index 5d7943cd1..b38e4e4e9 100644
--- a/test/examples/setup_examples.sh
+++ b/test/examples/setup_examples.sh
@@ -1,23 +1,27 @@
 if command -v rosrun 2>/dev/null; then
     echo "Shutting everything down"
-    ps aux | grep ros | awk '{print $2}' | xargs kill -9
+    ps aux | grep [r]os | awk '{print $2}' | xargs kill -9
     sleep 1
 
     echo "Starting roscore and various examples in background processes"
+    roslaunch test/examples/setup_examples.launch > roslaunch.log &
 
-    nohup roscore > /dev/null 2>&1&
-    sleep 2
-    nohup rosrun tf static_transform_publisher 0 0 0 0 0 0 world turtle1 100 > /dev/null 2>&1&
-    nohup rosrun tf2_web_republisher tf2_web_republisher > /dev/null 2>&1&
-    nohup rosrun actionlib_tutorials fibonacci_server > /dev/null 2>&1&
-    nohup rosrun rospy_tutorials add_two_ints_server > /dev/null 2>&1&
-    nohup rostopic pub /listener std_msgs/String "Hello, World" > /dev/null 2>&1&
-    # wait a moment then start up bridge
-    sleep 3
-    nohup roslaunch rosbridge_server rosbridge_websocket.launch > /dev/null 2>&1&
-    sleep 3
-    echo "Ready for lift off"
+    LAUNCHED=false
+    for i in 1 2 3 4 5 6 7 8 9 10
+    do
+        echo "Waiting for /hello_world_publisher...$i"
+        sleep 1
+        rostopic info /listener > /dev/null && LAUNCHED=true && break
+    done
+    if [ "$LAUNCHED" = true ] ; then
+        echo "Ready for lift off"
+        exit 0
+    else
+        echo "/hello_world_publisher not launched"
+        exit 1
+    fi
 else
     echo "Couldn't find ROS on path (try to source it)"
     echo "source /opt/ros/indigo/setup.bash"
+    exit 1
 fi
\ No newline at end of file