From e69bc8233cc8cdaa878573085ee7d1afd57a3cee Mon Sep 17 00:00:00 2001
From: robofish <1683502971@qq.com>
Date: Mon, 7 Jul 2025 23:27:42 +0800
Subject: [PATCH] start

---
 start.sh | 32 ++++++++++++++++++++++++++++++++
 1 file changed, 32 insertions(+)
 create mode 100755 start.sh

diff --git a/start.sh b/start.sh
new file mode 100755
index 0000000..230cfc6
--- /dev/null
+++ b/start.sh
@@ -0,0 +1,32 @@
+#!/bin/bash
+
+# 初始化ROS环境（根据实际路径修改）
+source /opt/ros/noetic/setup.bash
+source ~/ws_lida/devel/setup.bash
+ # 工作空间环境初始化[1](@ref)
+
+# 定义launch文件数组（按顺序添加）
+LAUNCH_FILES=(
+  " livox_ros_driver2 msg_MID360.launch"
+  " fast_lio mapping_mid360.launch"
+#   "package3 launch_file3.launch"
+)
+
+# 顺序启动逻辑
+for entry in "${LAUNCH_FILES[@]}"; do
+  # 分割包名与文件名rosrun map_server map_saver map:=/map -f src/FAST_LIO_LOCALIZATION/PCD/map
+  IFS=' ' read -r -a arr <<< "$entry"
+  pkg=${arr[0]}
+  file=${arr[1]}
+  
+  # 启动新终端并执行launch
+  gnome-terminal --title="$pkg - $file" -- bash -c \
+    "echo '正在启动 $pkg 的 $file'; \
+    roslaunch $pkg $file; \
+    exec bash"  # 保持终端不关闭[3](@ref)
+  
+  # 等待节点初始化（根据实际需求调整时长）
+  sleep 2  # 关键依赖节点建议8-10秒[4](@ref)
+done
+
+echo "所有launch文件已按序启动"
\ No newline at end of file