修改启动脚本

radio_ctrl.sh

@@ -1,22 +1,17 @@
 #!/bin/bash
+set -e
 
-source install/setup.bash  # ros workspace
+# 加载工作空间环境
-{
+source install/setup.bash
-	gnome-terminal --title="radio" --tab "XXD_ros" -- bash -c "ros2 run radio_ctrl radio_ctrl_node" 
-}&
-sleep 0.2s
 
-{
+# 启动节点
-	gnome-terminal --title="mc" --tab "XXD_ros" -- bash -c "ros2 run mc mc_node"
+ros2 run radio_ctrl radio_ctrl_node & 
-}&
+sleep 0.2
-sleep 0.2s
 
-{
+ros2 run mc mc_node &
-	gnome-terminal --title="ctrl_arbiter" --tab "XXD_ros" -- bash -c "ros2 run ctrl_arbiter ctrl_arbiter_node"
+sleep 0.2
-}&
-sleep 0.2s
 
-{
+ros2 run ctrl_arbiter ctrl_arbiter_node &
-	gnome-terminal --title="report" --tab "XXD_ros" -- bash -c "ros2 run mqtt_report mqtt_report_node"
+sleep 0.2
-}&
+
-sleep 0.2s
+wait

start_all.sh

@@ -1,21 +1,44 @@
 #!/bin/bash
 set -e
 
-# 加载你的工作空间环境
+# 加载工作空间环境
-source ~/Downloads/sweeper_200/install/setup.bash
+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