From 702a70b9997d603cab985f323b1b7164df397329 Mon Sep 17 00:00:00 2001
From: lyq <zxwl@44.com>
Date: Mon, 3 Nov 2025 16:13:55 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=94=B9=E5=90=AF=E5=8A=A8=E8=84=9A?=
 =?UTF-8?q?=E6=9C=AC?=
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---
 radio_ctrl.sh | 29 ++++++++++++-----------------
 start_all.sh  | 29 ++++++++++++++++++++++++++---
 2 files changed, 38 insertions(+), 20 deletions(-)

diff --git a/radio_ctrl.sh b/radio_ctrl.sh
index e3643a5..ff18913 100755
--- a/radio_ctrl.sh
+++ b/radio_ctrl.sh
@@ -1,22 +1,17 @@
 #!/bin/bash
+set -e
 
-source install/setup.bash  # ros workspace
-{
-	gnome-terminal --title="radio" --tab "XXD_ros" -- bash -c "ros2 run radio_ctrl radio_ctrl_node" 
-}&
-sleep 0.2s
+# 加载工作空间环境
+source install/setup.bash
 
-{
-	gnome-terminal --title="mc" --tab "XXD_ros" -- bash -c "ros2 run mc mc_node"
-}&
-sleep 0.2s
+# 启动节点
+ros2 run radio_ctrl radio_ctrl_node & 
+sleep 0.2
 
-{
-	gnome-terminal --title="ctrl_arbiter" --tab "XXD_ros" -- bash -c "ros2 run ctrl_arbiter ctrl_arbiter_node"
-}&
-sleep 0.2s
+ros2 run mc mc_node &
+sleep 0.2
 
-{
-	gnome-terminal --title="report" --tab "XXD_ros" -- bash -c "ros2 run mqtt_report mqtt_report_node"
-}&
-sleep 0.2s
\ No newline at end of file
+ros2 run ctrl_arbiter ctrl_arbiter_node &
+sleep 0.2
+
+wait
diff --git a/start_all.sh b/start_all.sh
index b7034b4..97c802e 100755
--- a/start_all.sh
+++ b/start_all.sh
@@ -1,21 +1,44 @@
 #!/bin/bash
 set -e
 
-# 加载你的工作空间环境
-source ~/Downloads/sweeper_200/install/setup.bash
+# 加载工作空间环境
+source install/setup.bash
 
 # 启动节点
-ros2 run radio_ctrl radio_ctrl_node &
+ros2 run radio_ctrl radio_ctrl_node & 
+sleep 0.2
+
 ros2 run mc mc_node &
+sleep 0.2
+
 ros2 run ctrl_arbiter ctrl_arbiter_node &
+sleep 0.2
+
 ros2 run mqtt_report mqtt_report_node &
+sleep 0.2
+
 ros2 launch rslidar_sdk start_double.launch.py &
+sleep 0.2
+
 ros2 run rtk rtk_node &
+sleep 0.2
+
 ros2 run route route_node &
+sleep 0.2
+
 ros2 run sub sub_node &
+sleep 0.2
+
 ros2 run task_manager task_manager_node &
+sleep 0.2
+
 ros2 run pl pl_node &
+sleep 0.2
+
 ros2 launch fu fu.launch.py &
+sleep 0.2
+
 ros2 run pub_gps pub_gps_node &
+sleep 0.2
 
 wait