linux 用脚本打开多个terminal和多个标签页并分别执行命令
#! /bin/bash
source /opt/ros/kinetic/setup.bash
source /home/yake/catkin_ws/devel/setup.bashgnome-terminal -x bash -c "roslaunch kinova_bringup kinova_robot.launch kinova_robotType:=j2n6s200; exec bash; "
sleep 5gnome-terminal --window -e 'bash -c "rosrun kinova_demo pose_action_client.py -v j2n6s200 mq 0.310199 0.202714 -0.082002 -0.73323 0.0342688 -0.0189734 0.678851;sleep 7;exec bash"' --tab -e 'bash -c "rosrun cv_camera cv_camera_node _device_id:=1;sleep 4; exec bash;"'
gnome-terminal --window -e 'bash -c "rosrun obj_tracking obj_tracking_node_pubuv; exec bash;sleep 4;exec bash"'
关键代码行为
gnome-terminal --window -e 'bash -c "rosrun kinova_demo pose_action_client.py -v j2n6s200 mq 0.310199 0.202714 -0.082002 -0.73323 0.0342688 -0.0189734 0.678851;sleep 7;exec bash"' --tab -e 'bash -c "rosrun cv_camera cv_camera_node _device_id:=1;sleep 4; exec bash;"'
--window表示打开一个终端窗口，--tab在其中新开辟一个标签页，如果还要加tab页就继续--tab。-x 只能出现一次，-e excute可以出现多次，要注意-e后面只能有一个参数，也就是说如果有空格，需要用引号。
[打开一个terminal并预先输好一段文字]
这个需求比较偏门，解决方法不错，就是利用expect这个工具，新建一个名为myprompt文件，包含的程序如下
#!/usr/bin/expect
#trap sigwinch and pass it to the child we spawned
#this allows the gnome-terminal window to be resized
trap {
set rows [stty rows]
set cols [stty columns]
stty rows $rows columns $cols < $spawn_out(slave,name)
} WINCH
set arg1 [lindex $argv 0]
# Get a Bash shell
spawn -noecho bash
# Wait for a prompt
expect "$ "
# Type something
send $arg1
# Hand over control to the user
interact
exit
调用方法（注意文件的路径要写全），将引号内得内容帮你提前输入到terminal，确认没问题后，回车就可以执行啦～～：
gnome-terminal -e "./myprompt \"rosrun kinova_yake camera_serviceMove_EyeInHand\""
最后我的文件代码如下
#! /bin/bash
source /opt/ros/kinetic/setup.bash
source /home/yake/catkin_ws/devel/setup.bashgnome-terminal -x bash -c "roslaunch kinova_bringup kinova_robot.launch kinova_robotType:=j2n6s200; exec bash; "
sleep 5gnome-terminal --window -e 'bash -c "rosrun kinova_demo pose_action_client.py -v j2n6s200 mq 0.310199 0.202714 -0.082002 -0.73323 0.0342688 -0.0189734 0.678851;sleep 7;exec bash"' --tab -e 'bash -c "rosrun cv_camera cv_camera_node _device_id:=1;sleep 4; exec bash;"'
gnome-terminal --window -e 'bash -c "rosrun obj_tracking obj_tracking_node_pubuv; exec bash;sleep 4;exec bash"'
gnome-terminal -e "./myprompt \"rosrun kinova_yake camera_serviceMove_EyeInHand\""
感觉terminal还是有点乱，下次看看能否限制窗口位置，或者使用terminator来执行脚本。
参考致谢：
https://blog.csdn.net/zong596568821xp/article/details/78623130
https://blog.csdn.net/qianzongCui/article/details/77877322
https://blog.csdn.net/swust_long/article/details/7285147
========================
kinova_cnn_grasp.sh
#! /bin/bash
source /opt/ros/kinetic/setup.bash
source /home/user/catkin_ws/devel/setup.bash
source /home/user/baxter_ws/devel/setup.bash
source /home/user/kinova_ws/devel/setup.bash
# Kinova
{
gnome-terminal -x bash -c "roslaunch kinova_bringup 1kinovaJaco.launch;exec bash"
}&
sleep 3
# RealSense
{
gnome-terminal -x bash -c "roslaunch realsense2_camera rs_d435_camera_with_model.launch initial_reset:=true;exec bash"
}&
sleep 3
# Hand-eye calibration data
{
gnome-terminal -x bash -c "roslaunch kinova_yake realsense_in_hand.launch;exec bash"
}&
sleep 3
# Depth image to meter
{
gnome-terminal -x bash -c "roslaunch ggcnn_kinova_grasping wrist_camera_realsense.launch;exec bash"
}&
sleep 3
# cnn inference
{
gnome-terminal -x bash -c "rosrun ggcnn_kinova_grasping run_ggcnn.py;exec bash"
}&
sleep 3
# Robot move
{
gnome-terminal -x bash -c "rosrun ggcnn_kinova_grasping kinova_open_loop_grasp_key.py;exec bash"
}&
sleep 3