39 lines
1.3 KiB
Bash
Executable File
39 lines
1.3 KiB
Bash
Executable File
#!/usr/bin/env bash
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set -e
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WORKSPACE_DIR="$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")" && pwd)"
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source "${WORKSPACE_DIR}/devel/setup.bash"
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USB_CAMERA_INDEX="${CAIM_USB_CAMERA_INDEX:-0}"
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USB_CAMERA_NAME="${CAIM_USB_CAMERA_NAME:-}"
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USB_CAMERA_TOPIC="${CAIM_USB_CAMERA_TOPIC:-/usb_camera/image_raw}"
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# 普通 USB 摄像头用于下视圆环；A/B 的 D435 由 target_finding 启动官方驱动。
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rosrun caim_core usb_camera_node.py \
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_device_name:="${USB_CAMERA_NAME}" \
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_device_index:="${USB_CAMERA_INDEX}" \
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_image_topic:="${USB_CAMERA_TOPIC}" &
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# OctoMap 使用 FAST-LIO 的机体系点云和 camera_init -> body TF。
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rosrun octomap_server octomap_server_node \
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_frame_id:=camera_init \
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_resolution:=0.05 \
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_sensor_model/max_range:=8.0 \
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_pointcloud_min_z:=-0.20 \
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_pointcloud_max_z:=3.00 \
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cloud_in:=/cloud_registered_body &
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roslaunch caim_core box_perception.launch &
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roslaunch caim_core downward_visual.launch \
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start_usb_camera:=false \
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image_topic:="${USB_CAMERA_TOPIC}" &
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roslaunch caim_core routes.launch show_rviz:=true &
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roslaunch caim_core position_node.launch &
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roslaunch caim_core target_finding.launch \
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start_realsense:=true \
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start_usb_camera:=false \
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camera_topic:=/camera/color/image_raw &
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echo "OctoMap、感知、避障、主状态机启动完成"
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trap 'kill $(jobs -p) 2>/dev/null' EXIT
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wait
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