ros_env_setup="/opt/ros/$ROS_DISTRO/setup.bash"

echo "sourcing $ros_env_setup"

source "$ros_env_setup"

source "/home/$USER/catkin_ws/devel/setup.bash"

alias sauce='source /opt/ros/noetic/setup.bash && source /home/${USER}/catkin_ws/devel/setup.bash'

alias scripz='cd /home/${USER}/catkin_ws/src/race_stack/stack_master/scripts'

alias switch_map='/home/${USER}/catkin_ws/src/race_stack/stack_master/scripts/switch_map.sh $1'

echo "ROS_ROOT $ROS_ROOT"

echo "ROS_DISTRO $ROS_DISTRO"

# automatically get zerotier IP. Be careful! it does not work if do not have an ip assigned with the correct prefix, "192.168.192" in this case, and it might not work if you have multiple ips with the same prefix

# export ROS_HOSTNAME=$( ifconfig | awk '/inet 192.168.192/ {print $2}' )

# check if ros hostname is empty

if [ -z "$ROS_HOSTNAME" ]; then

echo "ROS_HOSTNAME is empty, setting it to default"

export ROS_HOSTNAME=localhost

fi

export ROS_MASTER_URI="http://${ROS_HOSTNAME}:11311"

connect() {

local mode=$1

local ip=$2

if [[ -z "$ip" ]]; then

echo "Usage: connect {ssh|dssh} <ip_address>"

return 1

fi

case "$mode" in

ssh)

ssh -XC "$ip"

;;

dssh)

ssh -t -XC "$ip" " \

display_remote=\$DISPLAY; \

new_display=\$(echo \$DISPLAY | sed 's/\\.0\$//'); \

cookie=\$(xauth list \$DISPLAY | head -n1 | awk '{print \$3}'); \

echo \"Using display \$new_display with cookie \$cookie\"; \

docker exec -e DISPLAY=\$new_display -e NEW_DISPLAY=\$new_display -e COOKIE=\$cookie -it forzaeth_devcontainer /bin/bash -c ' \

cp /tmp/.Xauthority /tmp/.Xauthority-local && \

export XAUTHORITY=/tmp/.Xauthority-local && \

xauth add \$NEW_DISPLAY MIT-MAGIC-COOKIE-1 \$COOKIE 2>/dev/null && \

exec bash'"

;;

*)

echo "Usage: connect {ssh|dssh} <user@ip_address_of_the_car>"

return 1

;;

esac

}

alias sshcar='connect ssh'

alias dsshcar='connect dssh'