rtm_entrypoint.sh

#!/bin/bash

function connect_rtc() {
    source "$(rospack find rtshell)"/bash_completion
    #rtcwd /localhost
    host=/localhost:2809/${HOSTNAME}.host_cxt
    rtcon "$host"/HiroNXGUI0.rtc:HiroNX "$host"/PortDuplicator0.rtc:HiroNX
    rtcon "$host"/HiroNXGUI0.rtc:HIRO "$host"/PortDuplicator0.rtc:HIRO
    rtcon "$host"/ArmController0.rtc:HiroNX "$host"/PortDuplicator0.rtc:HiroNX
    rtcon "$host"/ArmController0.rtc:HIRO "$host"/PortDuplicator0.rtc:HIRO
    rtcon "$host"/PortDuplicator0.rtc:HiroNX0 "$host"/HiroNXProvider0.rtc:HiroNX
    rtcon "$host"/PortDuplicator0.rtc:HIRO0 "$host"/HiroNXProvider0.rtc:HIRO
    rtcon "$host"/PortDuplicator0.rtc:HiroNX1 "$host"/HandManipProvider0.rtc:HiroNX
    rtcon "$host"/PortDuplicator0.rtc:HIRO1 "$host"/HandManipProvider0.rtc:HIRO
    rtact "$host"/HiroNXGUI0.rtc "$host"/HiroNXProvider0.rtc "$host"/ArmController0.rtc "$host"/PortDuplicator0.rtc "$host"/HandManipProvider0.rtc
}


# setup ros environment
source "/opt/ros/$ROS_DISTRO/setup.bash"
source "$HOME"/.preinstalled/setup.bash
exec "$@"