2025-10-30 11:10:23 +08:00
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#!/bin/bash
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set -e
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2026-04-16 15:03:35 +08:00
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source install/setup.bash
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2026-01-30 09:30:02 +08:00
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2026-04-16 15:03:35 +08:00
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# ==============================================
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# 1. 车辆参数节点（你之前漏掉的！必须第一个启动）
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# ==============================================
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taskset -c 0 ros2 run vehicle_params vehicle_params_node &
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sleep 0.2
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2025-10-30 11:10:23 +08:00
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2026-04-16 15:03:35 +08:00
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# ==============================================
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# 2. 控制类节点（低负载，不影响雷达）
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# ==============================================
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taskset -c 0 ros2 run can_radio_ctrl can_radio_ctrl_node &
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sleep 0.2
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2026-02-28 17:00:02 +08:00
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2026-04-16 15:03:35 +08:00
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taskset -c 2 ros2 run remote_ctrl remote_ctrl_node &
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sleep 0.2
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2025-11-03 16:13:55 +08:00
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2026-04-16 15:03:35 +08:00
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taskset -c 1 ros2 run mc mc_node &
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sleep 0.2
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taskset -c 1 ros2 run ctrl_arbiter ctrl_arbiter_node &
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sleep 0.2
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taskset -c 2 ros2 run pl pl_node &
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sleep 0.2
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taskset -c 6 ros2 run mqtt_report mqtt_report_node &
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sleep 0.3
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# ==============================================
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# 3. 雷达驱动 —— 专用核心 3、4（绝不被抢占）
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# ==============================================
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taskset -c 3,4 ros2 launch rslidar_sdk start_double.launch.py &
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sleep 1.5
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# ==============================================
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# 4. 点云融合 —— 专用核心 5（完全隔离）
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# ==============================================
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taskset -c 5 ros2 launch rslidar_pointcloud_merger merge_two_lidars.launch.py &
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sleep 0.3
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# ==============================================
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# 5. 定位 & 业务节点（不干扰雷达）
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# ==============================================
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taskset -c 6 ros2 run rtk rtk_node &
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sleep 0.3
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taskset -c 6 ros2 run route route_node &
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sleep 0.3
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taskset -c 6 ros2 run sub sub_node &
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sleep 0.3
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taskset -c 7 ros2 run task_manager task_manager_node &
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sleep 0.3
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taskset -c 7 ros2 launch fu fu.launch.py &
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wait
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