# 备场代码
source install/setup.bash

commands=(
    "ros2 launch rm_nav_bringup bringup_real.launch.py \
    world:=map1 \
    mode:=nav \
    lio:=fastlio \
    localization:=icp \
    lio_rviz:=false \
    nav_rviz:=true"
    "ros2 launch rm_simpal_move simple_move.launch.py"
    "/bin/python3 /home/robofish/RC2025/src/rm_driver/rm_serial_driver/script/R2_Serial.py"
    "/bin/python3 /home/robofish/RC2025/src/rc_lidar/pcd2pgm.py"
    "/bin/python3 /home/robofish/RC2025/src/rc_lidar/caijian.py"
    "/bin/python3 /home/robofish/RC2025/src/rm_driver/rm_serial_driver/script/pub_goal.py"
    
)

for cmd in "${commands[@]}"; do
  gnome-terminal -- bash -c "source install/setup.bash; $cmd; exec bash"
  sleep 0.5
done