136 lines
3.6 KiB
Bash
136 lines
3.6 KiB
Bash
#!/bin/bash
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# FAST-LIO 开机自启动脚本 (核心版本)
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# 只启动必要的核心程序，适用于开机自启动
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# 不依赖图形界面，使用后台运行方式
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set -e
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# 配置
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WORKSPACE_DIR="/home/jetson/mid360test"
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LOG_DIR="$WORKSPACE_DIR/logs"
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STARTUP_LOG="$LOG_DIR/autostart_$(date +%Y%m%d_%H%M%S).log"
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# 创建日志目录
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mkdir -p "$LOG_DIR"
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# 日志函数
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log() {
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echo "[$(date '+%Y-%m-%d %H:%M:%S')] $1" | tee -a "$STARTUP_LOG"
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}
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log "🚀 FAST-LIO 自启动开始"
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# 切换到工作目录
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cd "$WORKSPACE_DIR" || {
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log "❌ 无法切换到工作目录: $WORKSPACE_DIR"
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exit 1
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}
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# 清理旧进程
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log "🧹 清理旧进程..."
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pkill -f "livox_ros_driver2" 2>/dev/null || true
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pkill -f "fastlio_mapping" 2>/dev/null || true
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pkill -f "distance_calculator" 2>/dev/null || true
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sleep 3
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# 设置环境
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log "⚙️ 设置ROS2环境..."
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source /opt/ros/humble/setup.bash 2>/dev/null || {
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log "❌ 无法加载ROS2环境"
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exit 1
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}
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source "$WORKSPACE_DIR/install/setup.bash" 2>/dev/null || {
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log "❌ 无法加载工作空间环境"
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exit 1
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}
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# 等待网络稳定
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log "🌐 等待网络连接稳定..."
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sleep 5
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# 验证网络连接
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if ping -c 1 192.168.1.194 >/dev/null 2>&1; then
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log "✅ 雷达网络连接正常"
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else
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log "⚠️ 雷达网络连接异常，继续启动"
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fi
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# 启动雷达驱动 (后台运行)
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log "📡 启动雷达驱动..."
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nohup ros2 launch livox_ros_driver2 msg_MID360_launch.py \
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> "$LOG_DIR/livox_driver.log" 2>&1 &
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LIVOX_PID=$!
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log "📡 雷达驱动已启动 (PID: $LIVOX_PID)"
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# 等待雷达驱动稳定
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sleep 8
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# 启动FAST-LIO (后台运行)
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log "🎯 启动FAST-LIO..."
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nohup ros2 launch fast_lio mapping.launch.py \
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> "$LOG_DIR/fastlio.log" 2>&1 &
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FASTLIO_PID=$!
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log "🎯 FAST-LIO已启动 (PID: $FASTLIO_PID)"
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# 等待FAST-LIO稳定
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sleep 5
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# 启动距离计算器 (后台运行)
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if [ -f "$WORKSPACE_DIR/distance_calculator.py" ]; then
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log "📏 启动距离计算器..."
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nohup python3 "$WORKSPACE_DIR/distance_calculator.py" \
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> "$LOG_DIR/distance_calculator.log" 2>&1 &
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CALC_PID=$!
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log "📏 距离计算器已启动 (PID: $CALC_PID)"
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else
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log "⚠️ 距离计算器文件不存在"
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fi
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# 保存PID文件，便于后续管理
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echo "$LIVOX_PID" > "$LOG_DIR/livox_driver.pid"
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echo "$FASTLIO_PID" > "$LOG_DIR/fastlio.pid"
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[ -n "$CALC_PID" ] && echo "$CALC_PID" > "$LOG_DIR/distance_calculator.pid"
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log "✅ 所有核心程序启动完成"
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log "📊 进程状态:"
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log " - 雷达驱动: PID $LIVOX_PID"
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log " - FAST-LIO: PID $FASTLIO_PID"
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[ -n "$CALC_PID" ] && log " - 距离计算器: PID $CALC_PID"
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log "📁 日志文件位置:"
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log " - 启动日志: $STARTUP_LOG"
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log " - 雷达驱动: $LOG_DIR/livox_driver.log"
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log " - FAST-LIO: $LOG_DIR/fastlio.log"
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[ -n "$CALC_PID" ] && log " - 距离计算器: $LOG_DIR/distance_calculator.log"
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log "💡 提示:"
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log " - 查看实时状态: tail -f $LOG_DIR/*.log"
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log " - 停止系统: ./stop_system.sh 或 pkill -f 'ros2|python3.*distance_calculator'"
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log " - 系统需要5-10秒完全稳定后才开始UART传输"
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log "🎉 自启动脚本执行完成"
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# 可选：监控进程状态
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sleep 10
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log "🔍 检查进程状态..."
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check_process() {
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local pid=$1
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local name=$2
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if kill -0 "$pid" 2>/dev/null; then
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log "✅ $name 运行正常 (PID: $pid)"
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return 0
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else
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log "❌ $name 进程异常 (PID: $pid)"
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return 1
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fi
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}
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check_process "$LIVOX_PID" "雷达驱动"
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check_process "$FASTLIO_PID" "FAST-LIO"
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[ -n "$CALC_PID" ] && check_process "$CALC_PID" "距离计算器"
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log "🏁 初始化完成，系统正在运行中..."
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