Launch scripts

The ros_industrial_demo/launch directory orchestrates the whole stack. The tmux launcher runs each step in its own pane, so every service is visible as it comes up.

start_environment_tmux.sh

Runs one ordered step table inside a tmux session (ihi_demo). Each step's command is sent to its own pane and gated on a health probe before the next step runs.

./start_environment_tmux.sh            # run all steps with health gates
./start_environment_tmux.sh --step N   # re-run from step N onward (debugging)
./start_environment_tmux.sh --status   # ports / containers / tmux status
./start_environment_tmux.sh --help

Step table

#	Step	tmux pane	Health gate
1	Dashboard (rmf2-launcher)	Dashboard.0	port 8083
2	Broker (IOCS)	IOCS.0	http://localhost:8000/status
3	MQTT	IOCS.1	sleep 3s
4	MAPF (unified)	Services.0	port 8888
5	Task Orchestrator	Services.1	http://localhost:2727/health_check
6	Devices (VDA5050)	Devices.0	log match vda5050_fiware: state
7	Simulation	Sim.0	sleep 10s
8	Init System	InitSystem.0	sleep 5s
9	Send Task	SendTask.0	sleep 3s

The step table is the single source of truth. To add or edit a step, see the launch/how_to_add_step.md guide in the repo.

Debugging a failed step

On a failed gate the launcher prints the failing pane's last 20 lines and leaves the session running. Attach and inspect:

tmux attach -t ihi_demo      # then switch to the failing window

stop_environment_tmux.sh

Tears everything down in reverse order, then kills the ihi_demo session. It is best-effort — a single failure never aborts the rest — and is safe to run from inside the session (it kills that session last).

./stop_environment_tmux.sh            # graceful stop + kill the tmux session
./stop_environment_tmux.sh --hard     # also force-remove leftover containers/ports
./stop_environment_tmux.sh --status
./stop_environment_tmux.sh --help

Steps 8 (Init) and 9 (Send Task) are one-shot, so teardown covers steps 7 → 1.

Control scripts

The launcher calls per-service control scripts (each takes start / stop):

Script	Service
rmf2_unified_mapf_control.sh	MAPF unified container
task_orchestrator_control.sh	Task Orchestrator
rmf2_res_vda5050_control.sh	VDA5050 bridge
simulation/Linux/RMF2_SIM.sh	UE5 simulation binary
rmf2_res_mqtt_control.sh	Mosquitto MQTT
rmf2_res_broker_control.sh	IOCS broker stack