ubuntu .desktop，ros-qt-rviz程序桌面快捷方式创建

desktop文件是什么

desktop文件是一个用来运行程序的快捷方式，为你的 Linux 应用创建 .desktop 文件
可在usr -> share -> applications目录下看到*.desktop文件，复制一份到桌面，基本格式如下

[Desktop Entry]
Encoding=UTF-8
Name=test
Type=Application
Terminal=true
StartupNotify=true
Exec=/home/path/lowSpeedV/start.sh
Icon=/home/path/resources/images/logo.png
NoDisplay=false

只需修改Exec（指定启动脚本路径）Icon（快捷方式图标），其中Terminal用于指定启动时是否运行命令行，可在调试时选true，观察程序启动失败原因，调试时需在启动脚本中增加阻塞函数，否则命令行一闪而过，

编辑启动脚本

调试的主要原因是该方式启动的程序是独立的运行环境，可能有某些库或者包找不到导致程序启动失败，因此在启动失败时需要在启动脚本中设置各种环境

#!/bin/sh
# ---------------------------------------------------------------------
# CLion startup script.
# ---------------------------------------------------------------------
echo start

export LD_LIBRARY_PATH=/opt/ros/noetic/lib/:$LD_LIBRARY_PATH

/home/Desktop/project/lowSpeedV/devel/lib/lowSpeedV/lowSpeedV
echo $?
sleep 100

例如上文中的export LD_LIBRARY_PATH=/opt/ros/noetic/lib/:$LD_LIBRARY_PATH，即无法找到ros相关动态库。
运行后有如下错误

[rospack] Error: package 'rviz' not found
[librospack]: error while executing command
[ WARN] [1698977373.827882538]: OGRE EXCEPTION(6:FileNotFoundException): '/ogre_media/plugins.cfg' file not found! in ConfigFile::load at /build/ogre-1.9-kiU5_5/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreConfigFile.cpp (line 81)
[ INFO] [1698977373.932631469]: Stereo is NOT SUPPORTED
[ INFO] [1698977373.932862530]: OpenGL device: llvmpipe (LLVM 12.0.0, 256 bits)
[ INFO] [1698977373.932956093]: OpenGl version: 3.1 (GLSL 1.4).
[rospack] Error: package 'rviz' not found
[librospack]: error while executing command
[rospack] Error: no such package media_export
[librospack]: error while executing command
[rospack] Error: package 'rviz' not found
[librospack]: error while executing command
terminate called after throwing an instance of 'pluginlib::ClassLoaderException'
  what():  Unable to find package: rviz
Aborted (core dumped)

显然rviz包不存在，再打印echo $ROS_PACKAGE_PATH，无内容。显然无ros环境，需要source /home/project/lowSpeedV/devel/setup.bash，添加后可正常启动qt-ros-rviz程序，完成启动脚本如下

#!/bin/bash
# ---------------------------------------------------------------------
# CLion startup script.
# ---------------------------------------------------------------------
echo start

source /Desktop/project/lowSpeedV/devel/setup.bash

export LD_LIBRARY_PATH=/opt/ros/noetic/lib/:$LD_LIBRARY_PATH

/home/project/lowSpeedV/devel/lib/lowSpeedV/lowSpeedV
echo $?

echo ROS_PACKAGE_PATH
echo $ROS_PACKAGE_PATH
sleep 100