if command -v rosrun 2>/dev/null; then
    echo "Shutting everything down"
    ps aux | grep [r]os | awk '{print $2}' | xargs kill -9
    sleep 1

    echo "Starting roscore and various examples in background processes"
    roslaunch examples/setup_examples.launch > roslaunch.log &

    LAUNCHED=false
    for i in 1 2 3 4 5 6 7 8 9 10
    do
        echo "Waiting for /hello_world_publisher...$i"
        sleep 1
        rostopic info /listener > /dev/null && LAUNCHED=true && break
    done
    if [ "$LAUNCHED" = true ] ; then
        echo "Ready for lift off"
        exit 0
    else
        echo "/hello_world_publisher not launched"
        exit 1
    fi
else
    echo "Couldn't find ROS on path (try to source it)"
    echo "source /opt/ros/kinetic/setup.bash"
    exit 1
fi