#!/bin/bash
#
# argonaut-stack.sh — Argonaut 3 autonomy stack launcher (called by systemd).
#
# DEPLOY LOCATION: /usr/local/bin/argonaut-stack.sh  (chmod +x)
#
# systemd does NOT read ~/.bashrc, so ROS2 and the workspace overlay must
# be sourced explicitly. Reads ENV, BLUEOS_IP, RECORD from the systemd
# EnvironmentFile (/etc/argonaut/rov.env).
#
# Note: /home/ubuntu/ros2_ws is a symlink to /data/ros2_ws (NVMe data drive),
# so this path resolves correctly to the workspace on the NVMe.

set -e

# Base ROS2 Jazzy environment
source /opt/ros/jazzy/setup.bash

# Workspace overlay (via /home/ubuntu/ros2_ws symlink -> /data/ros2_ws)
source /home/ubuntu/ros2_ws/install/setup.bash

# Launch the full autonomy stack with environment-driven parameters.
# exec replaces the shell so systemd tracks the launch process directly.
exec ros2 launch rov_bringup rov_full.launch.py \
  env:=${ENV} blueos_ip:=${BLUEOS_IP} record:=${RECORD}