#!/bin/bash
bazel build --config=cuda --config=kraken --jobs=100 //vehicle/sensors/cameras/cammux:cammux_main //bin/...

export CUDA_VISIBLE_DEVICES=0
export ZOOX_ROBOT_NAME=kitt_04

bazel_run --config=cuda //bin:roscore &

sleep 5

bazel_run --config=cuda //vehicle/launch:vehicle_params_launch

bazel_run --config=cuda //bin:rosparam delete /brix_config/brix7
bazel_run --config=cuda //bin:rosparam delete /cameras/camera13
bazel_run --config=cuda //bin:rosparam delete /cameras/camera14

bazel_run --config=cuda -- //vehicle/sensors/cameras/cammux:cammux_main \
    --alsologtostderr=1 --launch_vision_immediately \
    --enable_rtprio=false \
    --inherit_rtprio=false \
    --wait_for_mode=false \
    --cameras_proto '[cameras.OpenCVCaptureImageSourceOptions.ext] { video_filename: ["/mnt/data_cache/2018/04/20/kitt_04/20180420T214531-kitt_04-b11f7520-0001-north_wide_left__16398753.h265", "/mnt/data_cache/2018/04/20/kitt_04/20180420T214531-kitt_04-b11f7520-0001-north_wide_right__16398742.h265"] }'
