1 写launch文件
把ROS程序写成一个launch文件,例如
powerline_with_rviz.launch
<launch>
<!-- Load camera parameters -->
<rosparam file="$(find choose_powerline)/config/camera_params.yaml" command="load"/>
<!-- Launch the RealSense camera node -->
<include file="$(find realsense2_camera)/launch/rs_camera.launch"/>
<!-- Launch the Yolov8 Segment node -->
<include file="$(find yolov8_seg)/launch/yolov8_seg.launch"/>
<!-- Launch the min_rects_processor_node -->
<include file="$(find choose_powerline)/launch/min_rects_processor.launch"/>
<!-- Launch the min_rects_processor_node -->
<include file="$(find choose_powerline)/launch/mouse.launch"/>
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find choose_powerline)/rviz/pl.rviz" />
</launch>
写sh文件启动launch
powerline_with_rviz.sh
#!/bin/bash
source /opt/ros/noetic/setup.bash
source /home/work/catkin_ws/devel/setup.bash
gnome-terminal -- bash -c "roslaunch choose_powerline powerline_with_rviz.launch; exec bash"
记得赋予权限
chmod +x 文件名
写desktop文件启动sh
这个文件一定要在桌面上
start.desktop
[Desktop Entry]
Name=原神启动
Comment=启动ROS Noetic程序
Exec=/home/work/catkin_ws/src/choose_powerline/launch/powerline_with_rviz.sh
Icon=utilities-terminal
Terminal=true
Type=Application
赋予权限
chmod +x 文件名
还要右键允许启动
此时双击可以启动