gardentech
f34817d5b6
FastAPI backend + vanilla JS frontend for LiDAR/camera startup, camera settings, and rosbag recording, unifying the previous scan_gui/scan_gui_dual/ scan_gui_triple desktop tools into one web app.
27 lines
1.2 KiB
Bash
Executable File
27 lines
1.2 KiB
Bash
Executable File
#!/usr/bin/env bash
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# Launches scan_web: sources the ROS overlays the backend's ManagedProcess
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# commands need to be able to `ros2 launch`/`ros2 bag record` against, then
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# runs the FastAPI app with a single uvicorn worker (required — see
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# backend/app.py: the rclpy context + ProcessManager registry live in
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# process memory and must not be duplicated across workers).
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# NOTE: no `-u` (nounset) — ROS's setup.bash references unset variables
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# internally (e.g. AMENT_TRACE_SETUP_FILES) and isn't nounset-safe.
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set -eo pipefail
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HOME_DIR="/home/gardentech"
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source /opt/ros/humble/setup.bash
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# fast_ws deprecated (2026-08-05) — it was the pre-3-camera predecessor to
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# fast_dual_ws and never had its own livox_ros_driver2 build (only chained
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# to lidar2_ws/install as an underlay). Source lidar2_ws directly.
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source "${HOME_DIR}/lidar2_ws/install/setup.bash"
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source "${HOME_DIR}/camera2_ws/install/setup.bash"
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if [ -f "${HOME_DIR}/fast_dual_ws/install/setup.bash" ]; then
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source "${HOME_DIR}/fast_dual_ws/install/setup.bash"
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fi
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# rtk_ws intentionally not sourced yet — GPS/RTK integration is Phase 1
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# Milestone 2, unused until then.
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cd "${HOME_DIR}/scan_web/backend"
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exec python3 -m uvicorn app:app --host 0.0.0.0 --port 8000 --workers 1
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