run

#!/bin/bash
# get where I am
MY_PATH=$(readlink -f  $(dirname $0))

# what type of terminal
OPTION_WORKING_DIR='--working-directory'
OPTION_CORE_GEOMETRY='--geometry=50x10+0+0'
OPTION_RM_GEOMETRY='--geometry=50x10+500+0'
OPTION_COMMAND='--command'


MASTER_DISPLAY_OPTION="${OPTION_CORE_GEOMETRY} ${OPTION_TITLE}\=\"roscore\""
RUNMGR_DISPLAY_OPTION="${OPTION_RM_GEOMETRY} ${OPTION_TITLE}\=\"runtime_manager\""

if [ $(which gnome-terminal) ]; then
    TERMINAL=gnome-terminal
    GNOME_VERSION=$(gnome-terminal --version | cut -d '.' -f 2)
    if [ ${GNOME_VERSION} -ge 14 ]; then
	MASTER_DISPLAY_OPTION=''
	RUNMGR_DISPLAY_OPTION=''
    fi
elif [ $(which mate-terminal) ]; then
    TERMINAL=mate-terminal
elif [ $(which xfce4-terminal) ]; then
    TERMINAL=xfce4-terminal
elif [ $(which lxterminal) ]; then
    TERMINAL=lxterminal
elif [ $(which konsole) ]; then
    TERMINAL=konsole
    OPTION_WORKING_DIR='--workdir'
    OPTION_CORE_GEOMETRY=''
    OPTION_RM_GEOMETRY=''
    OPTION_PM_GEOMETRY=''
    OPTION_COMMAND='-e'
    OPTION_TITLE='-T'
fi

echo "Process Manager"

gksudo --message "Please input password for launching process manager" \
       -- $MY_PATH/run_proc_manager &

ADDR=$($MY_PATH/src/.config/rviz/subnet_chk.py -)
if [ "$?" == "0" ]; then
  export ROS_IP=$ADDR
fi

# boot ros-master
${TERMINAL} ${MASTER_DISPLAY_OPTION} ${OPTION_WORKING_DIR}=${MY_PATH} ${OPTION_COMMAND}="bash -c 'source ./devel/setup.bash; roscore'"&

# boot runtime_manager
${TERMINAL} ${RUNMGR_DISPLAY_OPTION} ${OPTION_WORKING_DIR}=${MY_PATH} ${OPTION_COMMAND}="bash -c 'source ./devel/setup.bash; rosrun runtime_manager runtime_manager_dialog.py'"