通过shell脚本，开启多个终端开机自启动多个节点

#! /bin/bash

echo "Mappping Start!"
source /opt/ros/kinetic/setup.bash
#source $HOME/catkin_ws_fang/devel/setup.bash
#source $HOME/catkin_ws/devel/setup.bash
sleep 2

# open the LeGO-LOAM launch
gnome-terminal -x bash -c "source /opt/ros/kinetic/setup.bash;source $HOME/sensor_driver/devel/setup.bash;cd $HOME/sensor_driver;rosrun autolabor_key agv_iot_communicate.launch;read"
sleep 4

# open the Lidar launch 
gnome-terminal -x bash -c "source /opt/ros/kinetic/setup.bash;cd $HOME/velodyne_drvier_ws;source $HOME/velodyne_drvier_ws/devel/setup.bash;roslaunch velodyne_pointcloud VLP16_points.launch;read"
sleep 4

# open the IMU launch
#gnome-terminal -x bash -c "source /opt/ros/kinetic/setup.bash;cd $HOME/xsens_imu_ws;source $HOME/xsens_imu_ws/devel/setup.bash;roslaunch xsens_driver xsens_driver.launch;read"
#sleep 3

# open the IMU launch
gnome-terminal -x bash -c "source /opt/ros/kinetic/setup.bash;cd $HOME/ig1_imu_ws;source $HOME/ig1_imu_ws/devel/setup.bash;roslaunch imu_lpms_ig1 imu_lpms_ig1.launch;read"
sleep 6

# 记录bag包
gnome-terminal -x bash -c "cd $HOME/fang1125-data;rosbag record /imu/data /velodyne_points_2;read"
#sleep 4