33 lines
1.3 KiB
Python
33 lines
1.3 KiB
Python
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#!/usr/bin/env python
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import subprocess
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import keyboard
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def execute_launch(launch_file, launch_args=[]):
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# 构造启动命令
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launch_command = ["roslaunch", launch_file] + launch_args
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# 启动一个新的终端并执行对应的.launch文件
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subprocess.Popen(['gnome-terminal', '--', 'bash',' '.join(launch_command)])
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# 监听按键事件
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def on_press(event):
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key = event.name
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# 检查按键是否对应一个.launch文件
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launch_files = {
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'a': ('/home/firefly/pibot_ros/ros_ws/src/upbot_vision/launch/upbot_vision.launch', []), # stereo
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'b': ('/home/firefly/pibot_ros/ros_ws/src/pibot_navigation/launch/nav.launch', ['map_name:=10_10m']), # nav
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'c': ('/home/firefly/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/test/room_exploration_client.launch', ['robot_env:=10_10m']), # client
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'd': ('/home/firefly/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/launch/room_exploration_action_server.launch', []), # server
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}
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if key in launch_files:
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# 获取对应的.launch文件和参数
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launch_file, launch_args = launch_files[key]
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# 执行对应的.launch文件
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execute_launch(launch_file, launch_args)
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keyboard.on_press(on_press)
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# 运行程序
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keyboard.wait('q') # 等待按下 'q' 键
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