roslaunch多文件及顺序控制启动

最新推荐文章于 2024-05-02 23:00:55 发布

余潇焰

最新推荐文章于 2024-05-02 23:00:55 发布

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分类专栏： ROS 文章标签： roslaunch

本文链接：https://blog.csdn.net/sxh_1102/article/details/84660850

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roslaunch多文件及顺序控制启动

方法一：编写shell文件控制启动顺序

说明
在catkin workspace中，比如src文件夹下有三个pkg，分别为rb_gazebo,rb_describtion,rb_control
编写脚本文件multi_launch.sh

#!/bin/bash 

roslaunch rb_gazebo rb_world.launch &
sleep 1
echo "launch rb_gazebo successfully"

roslaunch rb_description rb_rviz.launch &
sleep 1
echo "launch rb_rviz successfully"

roslaunch rb_control rb_control.launch &
echo "launch rb_control successfully"

roslaunch rb_control rb_rqt.launch &
echo "launch rb_rqt successfully"

wait
exit 0

执行

catkin_make
source devel/setup.bash    // 不要忘记

chmod a+x multi_launch.sh
./multi_launch.sh

方法二：借助Qt Creator

QT Creator设计ui
绑定按钮槽

void MainWindow::on_pushButton_clicked()
{
   system("gnome-terminal -x bash -c 'source /catkin_ws_path/devel/setup.bash; /catkin_ws/multi_launch.sh'&");
//   exit(0);   //  使得当前qt窗口退出
}