55 lines
1.6 KiB
Bash
Executable File
55 lines
1.6 KiB
Bash
Executable File
#!/bin/bash
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# 初始化ROS环境（根据实际路径修改）
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source /opt/ros/noetic/setup.bash
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source ~/ws_lida/devel/setup.bash # 工作空间环境初始化[1](@ref)
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# 定义launch文件数组（按顺序添加）
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LAUNCH_FILES=(
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"livox_ros_driver2 msg_MID360.launch"
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"point_lio mapping_mid360.launch"
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"fast_lio_localization localization_MID360.launch "
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"fast_lio_localization nav.launch"
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"fast_lio_localization r_serial.launch"
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# "package3 launch_file3.launch"
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)
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NODE_FILES=(
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"fast_lio_localization commands"
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# "fast_lio_localization all_move"
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# " fast_lio_localization c2"
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# "fast_lio_localization uart"
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)
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# 顺序启动逻辑
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for entry in "${LAUNCH_FILES[@]}"; do
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# 分割包名与文件名
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IFS=' ' read -r -a arr <<< "$entry"
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pkg=${arr[0]}
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file=${arr[1]}
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# 启动新终端并执行launch
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gnome-terminal --title="$pkg - $file" -- bash -c \
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"echo '正在启动 $pkg 的 $file'; \
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roslaunch $pkg $file; \
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exec bash" # 保持终端不关闭[3](@ref)
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# 等待节点初始化（根据实际需求调整时长）
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sleep 2 # 关键依赖节点建议8-10秒[4](@ref)
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done
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# 顺序启动逻辑
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for entry in "${NODE_FILES[@]}"; do
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# 分割包名与文件名
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IFS=' ' read -r -a arr <<< "$entry"
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pkg=${arr[0]}
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file=${arr[1]}
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# 启动新终端并执行launch
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gnome-terminal --title="$pkg - $file" -- bash -c \
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"echo '正在启动 $pkg 的 $file'; \
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rosrun $pkg $file; \
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exec bash" # 保持终端不关闭[3](@ref)
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# 等待节点初始化（根据实际需求调整时长）
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sleep 1 # 关键依赖节点建议8-10秒[4](@ref)
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done
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echo "所有launch文件已按序启动"
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