#!/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"