項目需要，啓動的腳本太多，需要進行優化，主要包括多終端ros啓動
直接上shell代碼
gnome-terminal --title="roscore" -x bash -c "roscore"
sleep 4s
gnome-terminal --title="ccm server" -x bash -c "cd ~/ccmslam_multi_ws;
source devel/setup.bash;
roslaunch ccmslam Server.launch;"
gnome-terminal --title="ccm rviz" -x bash -c "cd ~/ccmslam_multi_ws;
source devel/setup.bash;
cd ~/ccmslam_multi_ws/src/ccm_slam/cslam;
rviz -d conf/rviz/ccmslam.rviz;"
gnome-terminal --title="avs_listen" -x bash -c "cd ~/catkin_xavs_feature;
source devel/setup.bash;
echo 'avs_listen'
rosrun ros_xavs2 listen_stream;"
gnome-terminal --title="detection" -x bash -c "cd ~/detection_ws;
source devel/setup.bash;
roslaunch darknet_ros darknet_ros.launch;"
sleep 3s
gnome-terminal --title="avs_send" -x bash -c "bash ssh_avs.sh"
gnome-terminal --title="ccm_client1_robot16" -x bash -c "bash ssh_ccm_dadao16.sh"
gnome-terminal --title="ccm_client2_robot10" -x bash -c "bash ssh_ccm_dadao10.sh"
其中包括遠程ssh的腳本,爲了避免ssh輸入密碼，
安裝sshpass傳密碼，sshpass -p password ssh user@ip
缺點：明文傳密碼
ssh_ccm_dadao16.sh如下
sshpass -p '.' ssh [email protected] "cd ccmslam_ws;
source /opt/ros/kinetic/setup.bash;
export ROS_MASTER_URI=http://192.168.3.6:11311;
export ROS_HOSTNAME=192.168.3.5;
source devel/setup.bash;
roslaunch ccmslam Client_dadao10_rgbd.launch;
"
需要注意的是這樣啓動程序在ctrl+c結束之後程序不會停止，仍然在後臺執行，所以需要手動清理進程，網上有獲取進程號然後kill 的，這裏簡單的用進程名kill
sshpass -p '.' ssh [email protected] "bash clear_all.sh;
exit
"
sshpass -p '.' ssh [email protected] "bash clear_all.sh;
exit
"
sshpass -p '.' ssh [email protected] "bash clear_all.sh;
exit
"