ros - ROS从文件中执行多个命令

Question

有没有办法自动连续运行这些命令？

roscd stereo_camera
rosparam load marvin_cameras.yaml
rosrun stereo_camera stereo_camera __name:=bumblebeeLeft
rosrun stereo_camera stereo_camera __name:=bumblebeeCenter

roslaunch openni_launch_marvin kinect_left.launch
roslaunch openni_launch_marvin kinect_center.launch 

Answer 1

您可以编写一个启动文件来运行所需的节点/启动文件，延迟如here所述，或者您可以只编写一个如下所示的 bash 脚本：

#!/bin/bash
roscd stereo_camera
rosparam load marvin_cameras.yaml
rosrun stereo_camera stereo_camera __name:=bumblebeeLeft &
rosrun stereo_camera stereo_camera __name:=bumblebeeCenter &
roslaunch openni_launch_marvin kinect_left.launch &
roslaunch openni_launch_marvin kinect_center.launch &
wait

假设您的脚本名为script.sh，您必须通过使其可执行chmod +x script.sh，然后通过 运行它./script.sh。标志将&命令发送到后台，而wait命令等待后台的所有程序完成。