ROS实验笔记之——如果通过一个脚本来同时开启多个窗口及多个机器人

本博文实现了：

• 一条简单命令控制3个机器人（开启roscore的同时，运行所需的所有的ros命名）
• ssh的同时输入密码并且运行命令

在进行ros开发时，不可避免的需要开多个终端，运行n条命令。特别是做多机器人开发。要ssh到不同的机器人然后分别运行命令，在本机上也是如此。

当然，在ros中，提供了launch文件给我们进行命令的封装。可是ssh应该是无法写入roslaunch中。而且ssh后还得输入密码。对于正常的开发当然没有问题，可是如果要做展示就特别麻烦了。比如，本人做的多机器人操作中，需要运行的命令如下：

首先必须运行
roscore

ssh远程连接三个机器人
ssh ubuntu@192.168.11.152  1
ssh ubuntu@192.168.11.157  2
ssh ubuntu@192.168.11.159  0

然后在三个机器人上分别运行如下命令
ROS_NAMESPACE=tb_1 roslaunch turtlebot3_bringup turtlebot3_robot.launch multi_robot_name:="tb_1" set_lidar_frame_id:="tb_1/base_scan"
ROS_NAMESPACE=tb_2 roslaunch turtlebot3_bringup turtlebot3_robot.launch multi_robot_name:="tb_2" set_lidar_frame_id:="tb_2/base_scan"
ROS_NAMESPACE=tb_0 roslaunch turtlebot3_bringup turtlebot3_robot.launch multi_robot_name:="tb_0" set_lidar_frame_id:="tb_0/base_scan"


再次ssh到三个机器人，再分别运行如下命令
rosrun mvcam mvcam_ROI_max_flag __ns:=tb_1
rosrun mvcam mvcam_ROI_max_flag __ns:=tb_2
rosrun mvcam mvcam_ROI_max_flag __ns:=tb_0


然后在电脑终端运行
roslaunch single_led EKF.launch 

如果要开启键盘操作，还需要运行
roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

这些命令下来，差不多10个窗口，特别麻烦。

而本博文采用sh脚本来实现。只需要在.bashrc文件加入

alias open='cd ~/demo && sh launch_top.sh'

然后简单的在终端运行open，所有的命令都自动运行。生成入下图所示的rqt

创建脚本如下（此处直接粘贴代码）：

#! /bin/bash
gnome-terminal --window -e 'bash -c "roscore;exec bash"'
###############################################################
gnome-terminal --window -e 'bash -c "expect rb1_launch.sh;exec bash"'
#gnome-terminal --window -e 'bash -c "expect rb1_launch_cam.sh;exec bash"'
gnome-terminal --window -e 'bash -c "expect rb1_launch_mvcam.sh;exec bash"'
###############################################################
gnome-terminal --window -e 'bash -c "expect rb2_launch.sh;exec bash"'
#gnome-terminal --window -e 'bash -c "expect rb2_launch_cam.sh;exec bash"'
gnome-terminal --window -e 'bash -c "expect rb2_launch_mvcam.sh;exec bash"'
###############################################################
sleep 10s
gnome-terminal --window -e 'bash -c "roslaunch single_led EKF.launch;exec bash"'

#!/usr/bin/expect
set user "ubuntu"
set ip "10.79.111.186"
set password "ubuntu"
set timeout 20
#opensend a ssh link, the comment must begin at a new line
spawn ssh $user@$ip 
expect {
	"(yes/no)?" { send "yes\r"; exp_continue;}
	"password:" { send "$password\r"; exp_continue;}
	"*@*" { send "ROS_NAMESPACE=tb_1 roslaunch turtlebot3_bringup turtlebot3_robot.launch multi_robot_name:=\"tb_1\" set_lidar_frame_id:=\"tb_1/base_scan\"\r"; }
}
interact

#!/usr/bin/expect
set user "ubuntu"
set ip "10.79.111.186"
set password "ubuntu"
set timeout 20
#opensend a ssh link, the comment must begin at a new line
spawn ssh $user@$ip 
expect {
	"(yes/no)?" { send "yes\r"; exp_continue;}
	"password:" { send "$password\r"; exp_continue;}
	"*@*" { send "ROS_NAMESPACE=tb_1 roslaunch usb_cam usb_cam.launch\r"; }
}
interact

#!/usr/bin/expect
set user "ubuntu"
set ip "10.79.111.186"
set password "ubuntu"
set timeout 20
#opensend a ssh link, the comment must begin at a new line
spawn ssh $user@$ip 
expect {
	"(yes/no)?" { send "yes\r"; exp_continue;}
	"password:" { send "$password\r"; exp_continue;}
	"*@*" { send "rosrun mvcam mvcam_ROI_max_flag __ns:=tb_1\r"; }
}
interact

#!/usr/bin/expect
set user "ubuntu"
set ip "10.79.13.213"
set password "ubuntu"
set timeout 20
#opensend a ssh link, the comment must begin at a new line
spawn ssh $user@$ip 
expect {
	"(yes/no)?" { send "yes\r"; exp_continue;}
	"password:" { send "$password\r"; exp_continue;}
	"*@*" { send "ROS_NAMESPACE=tb_2 roslaunch turtlebot3_bringup turtlebot3_robot.launch multi_robot_name:=\"tb_2\" set_lidar_frame_id:=\"tb_2/base_scan\"\r"; }
}
interact

#!/usr/bin/expect
set user "ubuntu"
set ip "10.79.13.213"
set password "ubuntu"
set timeout 20
#opensend a ssh link, the comment must begin at a new line
spawn ssh $user@$ip 
expect {
	"(yes/no)?" { send "yes\r"; exp_continue;}
	"password:" { send "$password\r"; exp_continue;}
	"*@*" { send "ROS_NAMESPACE=tb_2 roslaunch usb_cam usb_cam.launch\r"; }
}
interact

#!/usr/bin/expect
set user "ubuntu"
set ip "10.79.13.213"
set password "ubuntu"
set timeout 20
#opensend a ssh link, the comment must begin at a new line
spawn ssh $user@$ip 
expect {
	"(yes/no)?" { send "yes\r"; exp_continue;}
	"password:" { send "$password\r"; exp_continue;}
	"*@*" { send "rosrun mvcam mvcam_ROI_max_flag __ns:=tb_2\r"; }
}
interact