#!/bin/bash

echo 'appending kinect2_bridge launch to upstart file...'

if [ -d "/etc/ros/groovy" ];
then
    echo "groovy exists..."
    sudo sed -i 's:</launch>:\
    <machine name="pr2-head" address="pr2-head" user="pr2-head" password="clearpath" env-loader="/home/pr2-head/kinect_ws/devel/env.sh"/>\
    <node machine="pr2-head" pkg="kinect2_bridge" type="kinect2_bridge" name="kinect2_bridge">\
    \t<param name="publish_tf" value="true"/>\
    </node>\
    <node pkg="tf" type="static_transform_publisher" name="kinect2_transform" args="0 0 0 0 0 0 head_mount_kinect2_ir_optical_frame kinect2_link 300" />\
    \
    </launch>:i' /etc/ros/groovy/robot.launch
fi

if [ -d "/etc/ros/hydro" ];
then
    echo "hydro exists..."
    sudo sed -i 's:</launch>:\
    <machine name="pr2-head" address="pr2-head" user="pr2-head" password="clearpath" env-loader="/home/pr2-head/kinect_ws/devel/env.sh"/>\
    <node machine="pr2-head" pkg="kinect2_bridge" type="kinect2_bridge" name="kinect2_bridge">\
    \t<param name="publish_tf" value="true"/>\
    </node>\
    <node pkg="tf" type="static_transform_publisher" name="kinect2_transform" args="0 0 0 0 0 0 head_mount_kinect2_ir_optical_frame kinect2_link 300" />\
    \
    </launch>:i' /etc/ros/hydro/robot.launch
fi

if [ -d "/etc/ros/indigo" ];
then
    echo "indigo exists..."
    sudo sed -i 's:</launch>:\
    <machine name="pr2-head" address="pr2-head" user="pr2-head" password="clearpath" env-loader="/home/pr2-head/kinect_ws/devel/env.sh"/>\
    <node machine="pr2-head" pkg="kinect2_bridge" type="kinect2_bridge" name="kinect2_bridge">\
    \t<param name="publish_tf" value="true"/>\
    </node>\
    <node pkg="tf" type="static_transform_publisher" name="kinect2_transform" args="0 0 0 0 0 0 head_mount_kinect2_ir_optical_frame kinect2_link 300" />\
    \
    </launch>:i' /etc/ros/indigo/robot.launch
fi

sudo sed -i 's:</launch>:\
    <machine name="pr2-head" address="pr2-head" user="pr2-head" password="clearpath" env-loader="/home/pr2-head/kinect_ws/devel/env.sh"/>\
    <node machine="pr2-head" pkg="kinect2_bridge" type="kinect2_bridge" name="kinect2_bridge">\
    \t<param name="publish_tf" value="true"/>\
    </node>\
    <node pkg="tf" type="static_transform_publisher" name="kinect2_transform" args="0 0 0 0 0 0 head_mount_kinect2_ir_optical_frame kinect2_link 300" />\
    \
    </launch>:i' /etc/ros/robot.launch

echo 'kinect2_bridge appended to upstart'