ros2调用sh文件启动两个相机标定程序,用c++编写程序
时间: 2023-12-12 20:05:33 浏览: 27
以下是一个 C++ 程序示例,用于启动两个相机标定程序 AprilTag:
```cpp
#include <cstdlib>
#include <iostream>
#include <string>
using namespace std;
int main(int argc, char * argv[])
{
// Set the camera topics
string cam1_topic = "/camera1/image_raw";
string cam2_topic = "/camera2/image_raw";
// Set the calibration files
string cam1_calib_file = "/path/to/camera1_calibration.yaml";
string cam2_calib_file = "/path/to/camera2_calibration.yaml";
// Set the launch file name
string launch_file = "apriltag_calib.launch";
// Construct the command strings
string cam1_cmd = "ros2 run image_tools cam2image " + cam1_topic + " & ros2 launch apriltag_ros " + launch_file + " camera:=camera_1 camera_info:=" + cam1_calib_file;
string cam2_cmd = "ros2 run image_tools cam2image " + cam2_topic + " & ros2 launch apriltag_ros " + launch_file + " camera:=camera_2 camera_info:=" + cam2_calib_file;
// Start the first camera calibration process
system(("gnome-terminal --tab --title='Camera 1 Calibration' -- bash -c '" + cam1_cmd + "'").c_str());
// Start the second camera calibration process
system(("gnome-terminal --tab --title='Camera 2 Calibration' -- bash -c '" + cam2_cmd + "'").c_str());
return 0;
}
```
这个 C++ 程序使用 `system()` 函数调用了 shell 命令,启动了两个终端,每个终端都会运行一个命令。每个命令都包含一个 `cam2image` 命令和一个 `ros2 launch` 命令,用于启动 AprilTag 相机标定程序和相应的摄像头信息文件。
你可以根据自己的需要修改文件路径和话题名称。