#!/usr/bin/env bash
set -euo pipefail
ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
# shellcheck disable=SC1091
source "${ROOT}/scripts/lib/dev_tools.sh"
dev_source_conda
conda activate ros_flexiv
if [[ ! -f "${ROOT}/install/setup.bash" ]]; then
  echo "ERROR: ${ROOT}/install/setup.bash 不存在。先在仓库根目录 colcon build。" >&2
  exit 1
fi
# shellcheck disable=SC1091
source "${ROOT}/install/setup.bash"
ros2 run arm_application demo_named_poses --ros-args \
  -p "poses:=['home','ready','inspect','pos_left','home']" \
  -p velocity_scale:=2.0 \
  -p dwell_sec:=0.2 \
  -p loops:=1