launch_vertical_chess.sh

#!/usr/bin/env bash

# Vertical Chess Launch Script
# Convenience wrapper for launching the complete vertical chess system

# Colors for output
GREEN='\033[0;32m'
BLUE='\033[0;34m'
RED='\033[0;31m'
NC='\033[0m' # No Color

echo -e "${BLUE}========================================${NC}"
echo -e "${BLUE}  Vertical Chess System Launcher${NC}"
echo -e "${BLUE}========================================${NC}"
echo

# Check if workspace is sourced
if [ -z "$AMENT_PREFIX_PATH" ]; then
    echo -e "${RED}Error: ROS2 workspace not sourced!${NC}"
    echo "Please run: source install/setup.bash"
    exit 1
fi

# Parse arguments
ENABLE_CAMERA="true"
ENABLE_BOARD_DETECTION="true"
ENABLE_OCCUPANCY="true"
ENABLE_CHESS_ENGINE="true"
ENABLE_MANIPULATION="true"
ENABLE_VISUALIZATION="true"
STOCKFISH_SKILL_LEVEL="10"
STOCKFISH_DEPTH="15"
STOCKFISH_TIME_LIMIT="2000"
LOG_LEVEL="debug"

# Help message
show_help() {
    echo "Usage: $0 [OPTIONS]"
    echo
    echo "Options:"
    echo "  --no-camera                    Disable camera undistortion node"
    echo "  --no-board-detection           Disable board detection node"
    echo "  --no-occupancy                 Disable occupancy detection node"
    echo "  --no-chess-engine              Disable chess engine node"
    echo "  --no-manipulation              Disable manipulation node (robot control)"
    echo "  --no-visualization             Disable ArUco marker visualization"
    echo "  --skill-level N                Set Stockfish skill level (0-20, default: 10)"
    echo "  --depth N                      Set Stockfish search depth (default: 15)"
    echo "  --time-limit N                 Set Stockfish time limit in ms (default: 2000)"
    echo "  --log-level [debug|info]       Set logging level (default: debug)"
    echo "  -h, --help                     Show this help message"
    echo
    echo "Examples:"
    echo "  $0                                    # Launch with default settings"
    echo "  $0 --skill-level 5 --time-limit 1000  # Easier AI, faster moves"
    echo "  $0 --no-manipulation                  # Launch without robot control"
    exit 0
}

# Parse command line arguments
while [[ $# -gt 0 ]]; do
    case $1 in
        --no-camera)
            ENABLE_CAMERA="false"
            shift
            ;;
        --no-board-detection)
            ENABLE_BOARD_DETECTION="false"
            shift
            ;;
        --no-occupancy)
            ENABLE_OCCUPANCY="false"
            shift
            ;;
        --no-chess-engine)
            ENABLE_CHESS_ENGINE="false"
            shift
            ;;
        --no-visualization)
            ENABLE_VISUALIZATION="false"
            shift
            ;;
        --no-manipulation)
            ENABLE_MANIPULATION="false"
            shift
            ;;
        --skill-level)
            STOCKFISH_SKILL_LEVEL="$2"
            shift 2
            ;;
        --depth)
            STOCKFISH_DEPTH="$2"
            shift 2
            ;;
        --time-limit)
            STOCKFISH_TIME_LIMIT="$2"
            shift 2
            ;;
        --log-level)
            LOG_LEVEL="$2"
            shift 2
            ;;
        -h|--help)
            show_help
            ;;
        *)
            echo -e "${RED}Error: Unknown option $1${NC}"
            echo "Use --help for usage information"
            exit 1
            ;;
    esac
done

# Display configuration
echo -e "${GREEN}Launch Configuration:${NC}"
echo "  Camera undistortion:    $ENABLE_CAMERA"
echo "  Board detection:        $ENABLE_BOARD_DETECTION"
echo "  Occupancy detection:    $ENABLE_OCCUPANCY"
echo "  Chess engine:           $ENABLE_CHESS_ENGINE"
echo "  Manipulation:           $ENABLE_MANIPULATION"
echo "  ArUco visualization:    $ENABLE_VISUALIZATION"
echo "  Stockfish skill level:  $STOCKFISH_SKILL_LEVEL"
echo "  Stockfish depth:        $STOCKFISH_DEPTH"
echo "  Stockfish time limit:   ${STOCKFISH_TIME_LIMIT}ms"
echo "  Log level:              $LOG_LEVEL"
echo

# Launch the system
echo -e "${BLUE}Launching vertical chess system...${NC}"
echo

ros2 launch vertical_chess vertical_chess.launch.py \
    enable_camera:=$ENABLE_CAMERA \
    enable_board_detection:=$ENABLE_BOARD_DETECTION \
    enable_occupancy_detection:=$ENABLE_OCCUPANCY \
    enable_chess_engine:=$ENABLE_CHESS_ENGINE \
    enable_manipulation:=$ENABLE_MANIPULATION \
    enable_visualization:=$ENABLE_VISUALIZATION \
    stockfish_skill_level:=$STOCKFISH_SKILL_LEVEL \
    stockfish_depth:=$STOCKFISH_DEPTH \
    log_level:=$LOG_LEVEL \
    stockfish_time_limit_ms:=$STOCKFISH_TIME_LIMIT