From 32f10b1c89d6847973576fcb1427c2de42c25c7e Mon Sep 17 00:00:00 2001
From: Zhengyi Jiang <anthony.jiang.github@outlook.com>
Date: Wed, 8 Nov 2023 21:03:24 +0000
Subject: [PATCH] added inifite loop so ros gets restarted after exit

---
 autostart/scripts/launch/launch_auxiliary.sh    | 8 ++++++--
 autostart/scripts/launch/launch_camera.sh       | 8 ++++++--
 autostart/scripts/launch/launch_reach.sh        | 8 ++++++--
 autostart/scripts/launch/launch_slam.sh         | 8 ++++++--
 autostart/scripts/launch/launch_unitree_base.sh | 8 ++++++--
 autostart/scripts/launch_roscore.sh             | 9 +++++++--
 6 files changed, 37 insertions(+), 12 deletions(-)

diff --git a/autostart/scripts/launch/launch_auxiliary.sh b/autostart/scripts/launch/launch_auxiliary.sh
index e77016d..c542c04 100755
--- a/autostart/scripts/launch/launch_auxiliary.sh
+++ b/autostart/scripts/launch/launch_auxiliary.sh
@@ -6,6 +6,10 @@ log() {
 }
 
 log "Launching unitree_auxiliary..."
-roslaunch ice9_unitree unitree_auxiliary.launch
-log "Error! unitree_auxiliary exited."
+while true; do
+	roslaunch ice9_unitree unitree_auxiliary.launch
+	log "Error! unitree_auxiliary exited."
+	log "Restarting unitree_auxiliary..."
+	sleep 1
+done
 log "Ended."
diff --git a/autostart/scripts/launch/launch_camera.sh b/autostart/scripts/launch/launch_camera.sh
index 651ea8c..e97c593 100755
--- a/autostart/scripts/launch/launch_camera.sh
+++ b/autostart/scripts/launch/launch_camera.sh
@@ -19,6 +19,10 @@ else
 fi
 
 log "Launching mjpeg_cam..."
-roslaunch ice9_unitree mjpeg_cam.launch device_name:=/dev/video1
-log "Error! mjpeg_cam exited."
+while true; do
+	roslaunch ice9_unitree mjpeg_cam.launch device_name:=/dev/video1
+	log "Error! mjpeg_cam exited."
+	log "Restarting mjpeg_cam..."
+	sleep 1
+done
 log "Ended."
diff --git a/autostart/scripts/launch/launch_reach.sh b/autostart/scripts/launch/launch_reach.sh
index 5fcbcfe..4e49726 100755
--- a/autostart/scripts/launch/launch_reach.sh
+++ b/autostart/scripts/launch/launch_reach.sh
@@ -6,6 +6,10 @@ log() {
 }
 
 log "Launching reach_ros..."
-roslaunch ice9_unitree reach_ros.launch
-log "Error! reach_ros exited."
+while true; do
+	roslaunch ice9_unitree reach_ros.launch
+	log "Error! reach_ros exited."
+	log "Restarting reach_ros..."
+	sleep 1
+done
 log "Ended."
diff --git a/autostart/scripts/launch/launch_slam.sh b/autostart/scripts/launch/launch_slam.sh
index 5da9071..2132e31 100755
--- a/autostart/scripts/launch/launch_slam.sh
+++ b/autostart/scripts/launch/launch_slam.sh
@@ -5,6 +5,10 @@ log() {
 	echo $1
 }
 log "Launching slam_planner_online..."
-roslaunch slam_planner slam_planner_online.launch
-log "Error! slam_planner_online exited."
+while true; do
+	roslaunch slam_planner slam_planner_online.launch
+	log "Error! slam_planner_online exited."
+	log "Restarting slam_planner_online..."
+	sleep 1
+done
 log "Ended."
diff --git a/autostart/scripts/launch/launch_unitree_base.sh b/autostart/scripts/launch/launch_unitree_base.sh
index 86a3977..45c1bc7 100755
--- a/autostart/scripts/launch/launch_unitree_base.sh
+++ b/autostart/scripts/launch/launch_unitree_base.sh
@@ -6,6 +6,10 @@ log() {
 }
 
 log "Launching unitree_legged_real..."
-roslaunch unitree_legged_real real.launch
-log "Error! unitree_legged_real exited."
+while true; do
+	roslaunch unitree_legged_real real.launch
+	log "Error! unitree_legged_real exited."
+	log "Restarting unitree_legged_real..."
+	sleep 1
+done
 log "Ended."
diff --git a/autostart/scripts/launch_roscore.sh b/autostart/scripts/launch_roscore.sh
index 0fa19db..88367df 100755
--- a/autostart/scripts/launch_roscore.sh
+++ b/autostart/scripts/launch_roscore.sh
@@ -15,9 +15,14 @@ if [ ${is_nano_15} ]; then
 	done
 	log "Husarnet ready, starting roscore..."
 	sleep 1
+
 	source ${HOME}/Unitree_GPS_Integration/autostart/scripts/ros_setup.bash
-	roscore
-	log "Error! roscore exited."
+	while true; do
+		roscore
+		log "Error! roscore exited."
+		log "Restarting roscore..."
+		sleep 1
+	done
 else
 	log "Not Nano 15, skipped."
 fi