#!/bin/bash

# Script to start the necessary ros functions for the Teleoperating NAO oproject

# Array of commands to run in different tabs
commands=(

    # Start roscore
    'cd ~/catkin_ws;source devel/setup.bash ;roscore'
    # Bringup Nao
    'sleep 1;cd ~/catkin_ws;source devel/setup.bash ;roslaunch nao_bringup nao_full.launch'
    # Start speech recognition server
    'sleep 4;cd ~/catkin_ws;source devel/setup.bash ;roslaunch nao_apps speech.launch'
    # Launch nodes in teleoperation package
    'sleep 4;cd ~/catkin_ws;source devel/setup.bash ;roslaunch teleoperation teleoperation.launch'
)

# Build final command with all the tabs to launch
finalCommand=""
for (( i = 0; i < ${#commands[@]} ; i++ )); do
    finalCommand+="--tab -e 'bash -c \"${commands[$i]};exec bash\"' "
done

# Run the final command
eval "gnome-terminal "$finalCommand

exit 0
