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terminator的使用
|Linux基础|
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在调试ROS程序时，经常需要运行多个节点程序，如果每个都打开一个终端然后输入指令非常繁琐，可以写一个脚本文件，每次运行这个脚本就能一次运行多个节点，方便高效。其实就是利用ubuntu的terminator：

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sudo apt-get -y install terminator

安装好以后在~/.config/terminator路径下的config是它的配置文件（例如设置窗口数量、字体、窗口大小等）。如果安装terminator后没有这个文件夹，那新建一个就可以了。下面以启动四个窗口为例说明怎么写脚本。

打开config文件，在terminal3下面，给command选项起个名字，例如command = COMMAND1。其它的terminal同理，后面的脚本会把这个名字改成运行的指令。

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[global_config]
  enabled_plugins = CustomCommandsMenu, ActivityWatch, LaunchpadCodeURLHandler, APTURLHandler, LaunchpadBugURLHandler
  suppress_multiple_term_dialog = True
[keybindings]
[layouts]
  [[default]]
    [[[child0]]]
      fullscreen = False
      last_active_term = 6465ad81-9563-4994-a9ea-4c73e642264a
      last_active_window = True
      maximised = True
      order = 0
      parent = ""
      position = 91:27
      size = 1823, 861
      title = q@ubuntu: ~
      type = Window
    [[[child1]]]
      order = 0
      parent = child0
      position = 908
      ratio = 0.499725726824
      type = HPaned
    [[[child2]]]
      order = 0
      parent = child1
      position = 427
      ratio = 0.499419279907
      type = VPaned
    [[[child5]]]
      order = 1
      parent = child1
      position = 427
      ratio = 0.499419279907
      type = VPaned
    [[[terminal3]]]
      command = COMMAND1
      order = 0
      parent = child2
      profile = default
      type = Terminal
      uuid = 6465ad81-9563-4994-a9ea-4c73e642264a
    [[[terminal4]]]
      command = COMMAND2
      order = 1
      parent = child2
      profile = default
      type = Terminal
      uuid = 40bece0b-c0b1-4510-b0d4-555a76b0df61
    [[[terminal6]]]
      command = COMMAND3
      order = 0
      parent = child5
      profile = default
      type = Terminal
      uuid = 54ebe730-2576-4963-a96f-bf5d63167da9
    [[[terminal7]]]
      command = COMMAND4
      order = 1
      parent = child5
      profile = default
      type = Terminal
      uuid = 2941b7ee-3345-4062-bfc3-cd68f3a636d4
[plugins]
[profiles]
  [[default]]
    background_image = None
    scrollback_lines = 5000

下面制作自己的脚本script.sh文件，内容如下：

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#!/bin/bash
 
## change these to whatever you actually need
command1="cd ~/TEB;source devel/setup.bash;roslaunch teb_local_planner_tutorials robot_carlike_in_stage.launch; bash"
command2="sleep 2s;roslaunch yocs_velocity_smoother standalone.launch; bash"
command3="sleep 3s;source ~/control/devel/setup.bash; roslaunch control control.launch; bash"
command4="sleep 4s;source ~/ReedsShepp/devel/setup.bash; roslaunch steering_functions steering_functions.launch; bash"
 
## Modify terminator's config
sed -i.bak "s#COMMAND1#$command1#; s#COMMAND2#$command2#; s#COMMAND3#$command3#; s#COMMAND4#$command4#;" ~/.config/terminator/config
 
## Launch a terminator instance using the new layout
terminator -l default
 
## Return the original config file
mv ~/.config/terminator/config.bak ~/.config/terminator/config

其中的sleep命令是防止节点同时启动，因为如果同时启动会出错，所以延时一段时间以错开运行。执行脚本时，打开一个终端并输入./script.sh，即可看到terminator同时启动多个窗口的过程。

如果脚本启动不了terminator了，那就检查一下~/.config/terminator路径下的配置文件config，把它改回上面的代码即可。