#!/bin/bash

case $SNAP_ARCH in
amd64)
	TRIPLET="x86_64-linux-gnu"
	;;
armhf)
	TRIPLET="arm-linux-gnueabihf"
	;;
arm64)
	TRIPLET="aarch64-linux-gnu"
	;;
*)
	TRIPLET="$SNAP_ARCH-linux-gnu"
	;;
esac

export ROS_BASE=$SNAP/ros-base

# Add ros-base to the PYTHONPATH
export PYTHONPATH=$PYTHONPATH:$ROS_BASE/usr/lib/python2.7/dist-packages

# Add ros-base to LD_LIBRARY_PATH
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$ROS_BASE/lib
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$ROS_BASE/lib/$TRIPLET
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$ROS_BASE/usr/lib
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$ROS_BASE/usr/lib/$TRIPLET

roslaunch listener talk_and_listen.launch "$@"
