Ubuntu下使用tumxp一键启动多个窗口

使用流程：

1. 安装tmuxp
2. 新建启动脚本yaml文件，如zlocs.yaml，并如下所示根据实际情况配置，一个window可以分为多个pane，同时又可以使用多个window
3. 在 /home/用户名/ 目录下新建.tmux.conf配置文件，并如下所示根据实际情况配置
4. 使用命令tmuxp load zlocs.yaml即可启动

启动脚本yaml文件示例：zlocs.yaml

session_name: alltmuxp
windows:
  - window_name: debug
    layout: tiled
    panes:
    - shell_command:
      # rostopic list
      - "2" 
      - sleep 4  
      - ros2 topic list
      
  - window_name: zl
    layout: tiled
    panes: 
    - shell_command:
     # start roscore
      - "3"
      - roscore
    - shell_command:
     # start 1to2 bridge
      - "2"
      - cd /home/dell/code/ros2/ros1_bridge
      - source /opt/ros/noetic/setup.bash 
      - source /opt/ros/galactic/setup.bash
      - source bridge_ws/install/setup.bash 
      - sleep 1
      - ros2 run ros1_bridge dynamic_bridge --bridge-all-1to2-topics
    - shell_command:
      # start dead reckoning
      - "2"
      - cd /home/dell/autoware
      - source install/setup.bash 
      - sleep 2
      - ros2 launch dead_reckoning dead_reckoning.launch.xml 
    - shell_command:
      # play bag
      - "3"
      - cd /home/dell/data_set
      - sleep 3
      - rosbag play 2022-10-24-14-16-14.bag -s 50 

Home目录下配置文件示例：.tmux.conf

# Mouse mode
set -g mouse on

# Use Alt-arrow keys to switch panes
bind -n C-Left select-pane -L
bind -n C-Right select-pane -R
bind -n C-Up select-pane -U
bind -n C-Down select-pane -D
# bind -n M-Left select-pane -L
# bind -n M-Right select-pane -R
# bind -n M-Up select-pane -U
# bind -n M-Down select-pane -D

# Set easier window split keys
bind-key = split-window -h
bind-key - split-window -v

# Shift arrow to switch windows
bind -n S-Left previous-window
bind -n S-Right next-window