From cdd26f142799873db21a5d9897ea2156087dffc9 Mon Sep 17 00:00:00 2001
From: "GLEN TURNER (8GT6)" <8gt6@queensu.ca>
Date: Mon, 1 Jun 2015 11:05:07 -0400
Subject: [PATCH] Change launch.bash so it launches in two seperate windows and
 added back in the bagger.py launch

---
 launch.bash | 25 ++++++++++++++++++++++---
 1 file changed, 22 insertions(+), 3 deletions(-)

diff --git a/launch.bash b/launch.bash
index 45720d9..45ae8b3 100644
--- a/launch.bash
+++ b/launch.bash
@@ -1,5 +1,24 @@
 #!/bin/bash
-killall -9 rosmaster
-roslaunch rosbridge_GUI_example all.launch &
-python -m SimpleHTTPServer 8000 
+
+kill_child_processes() {
+    isTopmost=$1
+    curPid=$2
+    childPids=`ps -o pid --no-headers --ppid ${curPid}`
+    for childPid in $childPids
+    do
+        kill_child_processes 0 $childPid
+    done
+    if [ $isTopmost -eq 0 ]; then
+        kill -9 $curPid 2> /dev/null
+    fi
+}
+
+# Ctrl-C trap. Catches INT signal
+trap "kill_child_processes 1 $$; exit 0" INT
+
+chmod a+x src/bagger.py 
+
+x-terminal-emulator -e "roslaunch rosbridge_GUI_example all.launch " &
+x-terminal-emulator -e "python -m SimpleHTTPServer 8000" 
+