forked from logzhan/RobotKernal-UESTC
50 lines
1.7 KiB
Python
Executable File
50 lines
1.7 KiB
Python
Executable File
#!/usr/bin/env python
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import sys
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from pynput.keyboard import Key, Listener
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import subprocess
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running_process = None
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def execute_launch(key):
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global running_process
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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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# 检查按键是否对应一个.launch文件
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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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# 构造启动命令
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launch_command = ["roslaunch", launch_file] + launch_args
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# 执行对应的.launch文件
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running_process = subprocess.Popen(launch_command)
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# 监听按键事件
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def on_press(key):
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global running_process
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if key.char == 'q':
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print("stop1")
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if running_process:
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running_process.terminate()
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running_process = None # 清除已结束的进程
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print("stop2")
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return False # 停止监听器
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try:
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if key.char == 's':
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print("按下 's' 键，程序停止")
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return False # 停止监听器
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execute_launch(key.char)
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except AttributeError:
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# 按下的不是字符键，忽略
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pass
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with Listener(on_press=on_press) as listener:
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listener.join()
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