通过sh文件调用ROS节点,并使之在后台运行

最新推荐文章于 2024-06-22 16:28:27 发布

原创最新推荐文章于 2024-06-22 16:28:27 发布

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本文详细解析了一段用于启动不同场景下ROS机器人的bash脚本。通过getopts功能，脚本提供了灵活的参数选择，包括洗衣机和巡逻车的运行与地图构建。深入介绍了如何在catkin_ws中运行特定的ROS程序，适用于初学者和开发者快速上手。

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#!/bin/bash

usage() {
    echo "usage:"
    echo " copy this file to catkin_ws and run by sh test.sh"
    echo " the path of program /catkin_ws/src"
    echo " use -u to launch a build map program of washer car"
    echo " use -p to launch a run program of washer car"
    echo " use -w to launch a build map program of patrol car"
    echo " use -r to launch a run program of washer car"
    exit -1
}

washrun() {
    roslaunch xiaoyuan_robot xiaoyuan_robot_start.launch
}
washmap() {
   roslaunch xiaoyuan_robot buildmap.launch
}
patrolrun() {
    roslaunch patrol_robot patrol_robot_start.launch
}
patrolmap() {
    roslaunch patrol_robot buildmap.launch&
    sleep 10
    roslaunch auto_change topic.launch&  
}

while getopts 'p r w u s' OPT
do
    case $OPT in
        p) washrun;;
        r) patrolrun;;
        w) patrolmap;;
        u) washmap;;
        s) usage;;
        ?) usage;;
    esac
done

echo $JAVA_DIR
echo $MAVEN_DIR
echo $upload

参考此篇文章

https://blog.youkuaiyun.com/zyh821351004/article/details/41697241

这里我使用了 getopts的功能，getopts的使用可参考下面的链接

https://www.cnblogs.com/klb561/p/8933992.html