1 files changed, 35 insertions, 0 deletions
diff --git a/tf2_watch.bash b/tf2_watch.bash
new file mode 100755
index 0000000..02e2580
--- /dev/null
+++ b/tf2_watch.bash
@@ -0,0 +1,35 @@
+#!/bin/env bash
+
+TIME_BETWEEN_SAMPLES="$1"
+
+set -euo pipefail
+IFS=$'\n\t'
+
+if [ -z "${TIME_BETWEEN_SAMPLES}" ]; then
+	TIME_BETWEEN_SAMPLES="25"
+fi
+
+GENERATED="frames.pdf"
+
+cleanstop() {
+	rm -rf "./${GENERATED}"
+	pkill mupdf
+}
+
+trap "cleanstop" EXIT
+
+
+MU_LAUNCHED=""
+
+while : ; do
+	rosrun tf2_tools view_frames.py
+
+	if [ -z "${MU_LAUNCHED}" ]; then
+		mupdf "${GENERATED}" &
+		MU_LAUNCHED="y"
+	else
+		pkill -hup mupdf
+	fi
+
+	sleep "${TIME_BETWEEN_SAMPLES}"
+done