ROS从文件执行多个命令

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

您可以编写一个单独的启动文件，该文件以here所示的延迟运行所需的节点/启动文件，或者您可以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，则必须使其通过chmod +x script.sh可执行，然后通过./script.sh运行。 &符号将命令发送到后台，而wait命令将等待直到后台的所有程序完成。