#!/usr/bin/env bash
# -----------------------------------------------------------
# 脚本名称: run_simulation.sh
# 功    能: 启动 Autoware-CARLA 联合仿真
#
# 前置条件:
#   1) CARLA 服务器已启动。可在carla目录下运行 ./CarlaUE4.sh -prefernvidia -RenderOffScreen
#   2) 已编译 Autoware
# 
# 修改提示:
#   map_path  : 本地地图路径
#   carla_map : CARLA 中的地图名称
# -----------------------------------------------------------

set -euo pipefail

RED='\033[0;31m'
GREEN='\033[0;32m'
NC='\033[0m'

log_info()  { echo -e "${GREEN}[INFO]${NC} $*"; }
log_error() { echo -e "${RED}[ERROR]${NC} $*" >&2; }

# 1. Source 环境
log_info "Sourcing workspace environment..."
set +u
source install/setup.bash
set -u

# 2. 启动仿真
log_info "Launching Autoware-CARLA e2e simulation..."
ros2 launch farui_launch ecar_launcher.launch.xml \
  map_path:=/home/nvidia/FaRui-test/map/parker01 \
  vehicle_model:=ecar_vehicle