VINS-Fusion仿真部分

建立plan.sh文件

#!/bin/bash
gnome-terminal -x bash -c  "cd ~/PX4_Firmware; roslaunch px4 indoor1.launch"
sleep 5
gnome-terminal -x bash -c  "cd ~/xtdrone_ws; bash scripts/xtdrone_run_vio.sh"
sleep 5
gnome-terminal -x bash -c  "cd ~/XTDrone/sensing/slam/vio; python vins_transfer.py iris 0"
sleep 5
gnome-terminal -x bash -c  "cd ~/XTDrone/communication; python multirotor_communication.py iris 0"
sleep 2
gnome-terminal -x bash -c  "cd ~/XTDrone/control/keyboard; python multirotor_keyboard_control.py iris 1 vel"
wait
exit 0

运行方法：

 ./plan.sh

ego部分

建立egoplan.sh文件

#!/bin/bash
gnome-terminal -x bash -c  "cd ~/XTDrone/motion_planning/3d; python ego_transfer.py iris 0"
sleep 2
gnome-terminal -x bash -c  "cd ~/XTDrone/motion_planning/3d; rviz -d ego_rviz.rviz"
sleep 5
gnome-terminal -x bash -c  "roslaunch ego_planner single_uav.launch"
wait
exit 0

运行方法：

 ./egoplan.sh