Robot Startup

Create a tmux session that matches the standard on-machine window layout (4 windows in order, pinned names) and starts the usual launch commands (no hardcoded window indexes).

This assumes DDS/discovery is already configured in the container shell environment.

Execute (Fast)

If the user asks to "execute" (or uses phrasing like "execute fast"), just run the startup script immediately and return (do not do extra probing like tmux ls, pane log capture, etc. unless asked for debugging):

~/.codex/skills/robot-startup/scripts/robot_startup_tmux.sh

Add flags only if the user asked for them:

• attach: --attach
• clean slate: --restart
• legacy 3-window layout (skip estimator): --no-estimator

Quick Start

Run the setup script:

~/.codex/skills/robot-startup/scripts/robot_startup_tmux.sh --attach

Disable the estimator window (legacy 3-window layout):

~/.codex/skills/robot-startup/scripts/robot_startup_tmux.sh --no-estimator --attach

Optionally override the estimator config:

~/.codex/skills/robot-startup/scripts/robot_startup_tmux.sh \
  --estimator-config ~/ros2_ws/src/moleworks_ros/mole_estimator/config/mole_estimator_robot_heading_corrected.yaml \
  --attach

Use a non-default session/workspace:

~/.codex/skills/robot-startup/scripts/robot_startup_tmux.sh \
  --session ros \
  --ws ~/ros2_ws \
  --endeffector-type shovel_w_teeth \
  --attach

If you want a clean slate (kills the existing session):

~/.codex/skills/robot-startup/scripts/robot_startup_tmux.sh --restart --attach

What It Creates

tmux session (default: ros) with 4 windows in order by name:

• low_level: ros2 launch mole_low_level_bringup bringup.launch.py use_sim_time:=false on_machine:=true activate_trajectory_controller:=false
• perception: ros2 launch mole_perception_bringup bringup.launch.py use_sim_time:=false enable_lidar:=true enable_robot_self_filter:=true enable_elevation_mapping:=true map_name:=none
• estimator: ros2 launch mole_estimator mole_estimator.launch.py ...
• foxglove: ros2 launch foxglove_bridge foxglove_bridge_launch.xml (default port 8765)

The script prompts for endeffector_type when run interactively (defaults to shovel if omitted) and passes it into low_level, perception, and estimator launches.

Window names are locked (automatic rename disabled), and the order is enforced each run.

By default, the script does not touch windows that already have a non-shell process running; use --restart to recreate everything.

To start dig controllers, use the separate dig-controllers skill.

Resources

• Script: scripts/robot_startup_tmux.sh