#!/bin/bash

# Run this script before you run the tutorial in MATLAB
# It will start the simulation in Gazebo with the low friction wall & 
# launch all the required genom modules

# Closes all Genom3 modules
pkill genomixd &
pkill mrsim-pocolibs &
pkill optitrack-pocolibs &
pkill pom-pocolibs &
pkill rotorcraft-pocolibs &
pkill ftsens-pocolibs &
h2 end

sleep 1

h2 init
sleep 1
genomixd &
sleep 1
tk3-mux /dev/ttyACM1 & ~/ut-tools/manual-install/ftsens-genom3/build/pocolibs/server/ftsens-pocolibs  -f && fg
