linux 用脚本打开多个terminal和多个标签页并分别执行命令

àì夳堔傛蜴生んèń 2023-06-15 07:14 36阅读 0赞

> \#! /bin/bash
> 
> source /opt/ros/kinetic/setup.bash  
> source /home/yake/catkin\_ws/devel/setup.bash
> 
> gnome-terminal -x bash -c "roslaunch kinova\_bringup kinova\_robot.launch kinova\_robotType:=j2n6s200; exec bash; "  
> sleep 5
> 
> gnome-terminal --window -e 'bash -c "rosrun kinova\_demo pose\_action\_client.py -v j2n6s200 mq 0.310199 0.202714 -0.082002 -0.73323 0.0342688 -0.0189734 0.678851;sleep 7;exec bash"' --tab -e 'bash -c "rosrun cv\_camera cv\_camera\_node \_device\_id:=1;sleep 4; exec bash;"'
> 
> gnome-terminal --window -e 'bash -c "rosrun obj\_tracking obj\_tracking\_node\_pubuv; exec bash;sleep 4;exec bash"'

> 关键代码行为
> 
> gnome-terminal --window -e 'bash -c "rosrun kinova\_demo pose\_action\_client.py -v j2n6s200 mq 0.310199 0.202714 -0.082002 -0.73323 0.0342688 -0.0189734 0.678851;sleep 7;exec bash"' --tab -e 'bash -c "rosrun cv\_camera cv\_camera\_node \_device\_id:=1;sleep 4; exec bash;"'

\--window表示打开一个终端窗口，--tab在其中新开辟一个标签页，如果还要加tab页就继续--tab。-x 只能出现一次，-e excute可以出现多次，要注意-e后面只能有一个参数，也就是说如果有空格，需要用引号。

\[打开一个terminal并预先输好一段文字\]

这个需求比较偏门，解决方法不错，就是利用expect这个工具，新建一个名为myprompt文件，包含的程序如下

> \#!/usr/bin/expect  
> \#trap sigwinch and pass it to the child we spawned  
> \#this allows the gnome-terminal window to be resized  
> trap \{  
> set rows \[stty rows\]  
> set cols \[stty columns\]  
> stty rows $rows columns $cols < $spawn\_out(slave,name)  
> \} WINCH  
> set arg1 \[lindex $argv 0\]  
> \# Get a Bash shell  
> spawn -noecho bash  
> \# Wait for a prompt  
> expect "$ "  
> \# Type something  
> send $arg1  
> \# Hand over control to the user  
> interact  
> exit

调用方法（注意文件的路径要写全），将引号内得内容帮你提前输入到terminal，确认没问题后，回车就可以执行啦～～：

> gnome-terminal -e "./myprompt \\"rosrun kinova\_yake camera\_serviceMove\_EyeInHand\\""

最后我的文件代码如下

感觉terminal还是有点乱，下次看看能否限制窗口位置，或者使用terminator来执行脚本。

参考致谢：

[https://blog.csdn.net/zong596568821xp/article/details/78623130][https_blog.csdn.net_zong596568821xp_article_details_78623130]

[https://blog.csdn.net/qianzongCui/article/details/77877322][https_blog.csdn.net_qianzongCui_article_details_77877322]

[https://blog.csdn.net/swust\_long/article/details/7285147][https_blog.csdn.net_swust_long_article_details_7285147]

========================

kinova_cnn_grasp.sh
    
    
    #! /bin/bash
    
    source /opt/ros/kinetic/setup.bash
    source /home/user/catkin_ws/devel/setup.bash
    source /home/user/baxter_ws/devel/setup.bash
    source /home/user/kinova_ws/devel/setup.bash
    
    # Kinova
    {
    gnome-terminal -x bash -c "roslaunch kinova_bringup 1kinovaJaco.launch;exec bash"
    }&
    sleep 3
    
    # RealSense
    {
    gnome-terminal -x bash -c "roslaunch realsense2_camera rs_d435_camera_with_model.launch initial_reset:=true;exec bash"
    }&
    sleep 3
    
    # Hand-eye calibration data
    {
    gnome-terminal -x bash -c "roslaunch kinova_yake realsense_in_hand.launch;exec bash"
    }&
    sleep 3
    
    # Depth image to meter
    {
    gnome-terminal -x bash -c "roslaunch ggcnn_kinova_grasping wrist_camera_realsense.launch;exec bash"
    }&
    sleep 3
    
    # cnn inference
    {
    gnome-terminal -x bash -c "rosrun ggcnn_kinova_grasping run_ggcnn.py;exec bash"
    }&
    sleep 3
    
    # Robot move
    {
    gnome-terminal -x bash -c "rosrun ggcnn_kinova_grasping kinova_open_loop_grasp_key.py;exec bash"
    }&
    sleep 3

[https_blog.csdn.net_zong596568821xp_article_details_78623130]: https://blog.csdn.net/zong596568821xp/article/details/78623130
[https_blog.csdn.net_qianzongCui_article_details_77877322]: https://blog.csdn.net/qianzongCui/article/details/77877322
[https_blog.csdn.net_swust_long_article_details_7285147]: https://blog.csdn.net/swust_long/article/details/7285147