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#!/bin/env bash
TIME_BETWEEN_SAMPLES="$1"
set -euo pipefail
IFS=$'\n\t'
if [ -z "${TIME_BETWEEN_SAMPLES}" ]; then
TIME_BETWEEN_SAMPLES="25"
fi
depends() {
if ! type "$1" >/dev/null; then
die "\"$1\" must be installed and in your \$PATH"
fi
}
depends pkill
depends mupdf
depends rosrun
GENERATED_PDF="frames.pdf"
GENERATED_RV="frames.gv"
cleanstop() {
rm -rf "./${GENERATED_PDF}" "./${GENERATED_RV}"
pkill mupdf
}
trap "cleanstop" EXIT
MU_LAUNCHED=""
while : ; do
rosrun tf2_tools view_frames.py
if [ -z "${MU_LAUNCHED}" ]; then
mupdf "${GENERATED_PDF}" &
MU_LAUNCHED="y"
else
pkill -hup mupdf
fi
sleep "${TIME_BETWEEN_SAMPLES}"
done
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