navi

navi.sh

@@ -0,0 +1,54 @@
+#!/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"
+  "point_lio mapping_mid360.launch"
+   "fast_lio_localization localization_MID360.launch "
+  "fast_lio_localization nav.launch"
+  "fast_lio_localization r_serial.launch"
+#   "package3 launch_file3.launch"
+)
+NODE_FILES=(
+   "fast_lio_localization commands"
+  # "fast_lio_localization all_move"
+  # " fast_lio_localization c2"
+  # "fast_lio_localization uart"
+)
+# 顺序启动逻辑
+for entry in "${LAUNCH_FILES[@]}"; do
+  # 分割包名与文件名
+  IFS=' ' read -r -a arr <<< "$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 $file; \
+    exec bash"  # 保持终端不关闭[3](@ref)
+  
+  # 等待节点初始化（根据实际需求调整时长）
+  sleep 2  # 关键依赖节点建议8-10秒[4](@ref)
+done
+# 顺序启动逻辑
+for entry in "${NODE_FILES[@]}"; do
+  # 分割包名与文件名
+  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'; \
+    rosrun $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 1  # 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"