autoUpdatePubIPforROS/ROS_networkSelector_master.txt at master · sshh25/autoUpdatePubIPforROS · GitHub

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###########################################################################
# Update IP addresses in Cloud Storage facility
# this step is needed for ROS network configuration
###########################################################################

if [[ -n $(wget -qO- http://ipecho.net/plain) ]] ; then # check if online

   #echo "we are now online"

# ------------ Update turtlebot IP Addresses ----------------------------------------


   turtlebot_PubIP=$(showPubIP)   # 1st arguement, Turtlebot Public IP address, passed from bash
   turtlebot_LocIP=$(showIP) 	  # 2nd argument, Turtlebot local IP address, passed from bash

   turtlebot_PubIP_old=$(cat /home/turtlebot/Dropbox/myIPs/turtlebot_PubIP.txt);
   turtlebot_LocIP_old=$(cat /home/turtlebot/Dropbox/myIPs/turtlebot_LocIP.txt);

   # Updating Turtlebot configuration settings
   if [[ $turtlebot_PubIP_old != $turtlebot_PubIP ]] ; then    				# When Turtlebot's network is changed, or a new IP address
	echo "New Network or New Public IP address: Applying changes ..."
   	rm /home/turtlebot/Dropbox/myIPs/turtlebot_PubIP.txt; 				# delete old values - Pub IP
	rm /home/turtlebot/Dropbox/myIPs/turtlebot_LocIP.txt;				# delete old values - Loc IP
	remHost.sh turtlebot 								# delete old hosts  - turtlebot host

  	echo $turtlebot_PubIP >> /home/turtlebot/Dropbox/myIPs/turtlebot_PubIP.txt;     # add new values - Pub IP
	echo $turtlebot_LocIP >> /home/turtlebot/Dropbox/myIPs/turtlebot_LocIP.txt;	# add new values - Loc IP
	addHost.sh turtlebot $turtlebot_LocIP						# add new hosts  - turtlebot host
   fi

# ------------ Update sami IP Addresses ----------------------------------------

   sami_PubIP=$(cat /home/turtlebot/Dropbox/myIPs/sami_PubIP.txt)
   sami_LocIP=$(cat /home/turtlebot/Dropbox/myIPs/sami_LocIP.txt)

   sami_PubIP_old=$(cat /home/turtlebot/Dropbox/myIPs/sami_PubIP_old.txt);
   sami_LocIP_old=$(cat /home/turtlebot/Dropbox/myIPs/sami_LocIP_old.txt);

   # Updating Sami configuration settings
   if [[ $sami_PubIP_old != $sami_PubIP ]] ; then 					# When sami's network is changed, or a new IP address
	echo "Continuing Configuration .. ";
   	rm /home/turtlebot/Dropbox/myIPs/sami_PubIP_old.txt;  				# delete old values - Pub IP
	rm /home/turtlebot/Dropbox/myIPs/sami_LocIP_old.txt;				# delete old values - Pub IP
	remHost.sh sami;								# delete old hosts  - sami host

   	echo $sami_PubIP >> /home/turtlebot/Dropbox/myIPs/sami_PubIP_old.txt; 		# add new values - Pub IP
	echo $sami_LocIP >> /home/turtlebot/Dropbox/myIPs/sami_LocIP_old.txt;		# add new values - Loc IP
	# must know type of network before adding new sami host, this is done below
   fi

fi

###########################################################################
# ROS Netowk Configuration
###########################################################################

if [ $sami_PubIP = $sami_PubIP_old ] && [ $turtlebot_PubIP = $turtlebot_PubIP_old ] ; then   # if all IP addresses have been updated

    if [[ $turtlebot_PubIP == *"113.210"* ]] ; then 					# if a remote ROS Network
	addHost.sh sami $sami_PubIP; 							# add new host - sami host (Public)
    elif [[ $turtlebot_PubIP == *"103.227"* ]] ; then   				# if a local ROS Network
	addHost.sh sami $sami_LocIP 							# add new host - sami host (Local)
    fi
else
    echo "Configuration Still Progress ... "						# IP addresses are still being updated
fi

export ROS_MASTER_URI=http://$turtlebot_LocIP:11311	# always the same regardless of the type of network