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小车辅助脚本编写

在远程控制中需要启动非常多的 Launch 文件，在终端启动很麻烦，编写一些脚本可以简化操作

• robot_client.sh

#!/bin/bashecho "开始执行Bash脚本"# 启动zedm
roslaunch zed_wrapper zedm.launch &
sleep 5# 启动realsense
roslaunch realsense2_camera rs_t265_image.launch &
sleep 5# 启动激光雷达
roslaunch velodyne_pointcloud VLP16_points.launch &
sleep 5# 启动BEV转换
python /home/redwall/catkin_ws/src/lidar2bev/scripts/test.py &
sleep 2# 启动推流
roslaunch push_video push_video.launch &
sleep 5# 启动机器人客户端
roslaunch robot_client robot_client.launchsleep 3
echo "Bash脚本执行完毕"

• sensors.sh

#!/bin/bashecho "开始执行Bash脚本"# 启动zedm
roslaunch zed_wrapper zedm.launch &
sleep 5# 启动realsense
roslaunch realsense2_camera rs_t265_image.launch &
sleep 5# 启动激光雷达
roslaunch velodyne_pointcloud VLP16_points.launchsleep 3
echo "Bash脚本执行完毕"

• bag_record.sh

#!/bin/bash# 采集数据,zed相机-雷达-IMU-GPS
rosbag record /zedm/zed_node/left/image_rect_color /velodyne_points /zedm/zed_node/imu/data -o /media/redwall/Ding_Hard_Disk/lvi.bag# 采集数据,zed相机-雷达-IMU-GPS
# rosbag record /zedm/zed_node/left/image_rect_color /velodyne_points /zedm/zed_node/imu/data /gps_path /robot_gps -o /media/redwall/Ding_Hard_Disk/lviG.bag

• remote_client.sh

#!/bin/bash echo "开始执行Bash脚本"# 启动拉流
roslaunch drag_video drag_video.launch &
sleep 5# 启动远程客户端
roslaunch remote_client remote_client.launch sleep 5
echo "Bash脚本执行完毕"

💡 脚本使用**&符号使每个roslaunch**命令在后台运行，以便能够继续执行后续命令