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