# Day5：所有模块联合

**Repository Path**: fxb_icv_learn_intermediate/Day5-Integrate-all-modules

## Basic Information

- **Project Name**: Day5：所有模块联合
- **Description**: 1）所有模块联合调试，实现循迹停障
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2026-07-15
- **Last Updated**: 2026-07-28

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# Day5：所有模块联合

在第四天时，已经把所有模块联合，但是是手动一个个启动每个模块，这里我们可以使用shell脚本来一起启动，并且可以控制启动的先后顺序以及启动延时

## 编写start_all.sh脚本

```
# 创建start_all.sh文件并编辑
code ~/autodriver_ws/start_all.sh
```

```
#!/bin/bash

# 传感器&底盘&CAN
gnome-terminal -t "sensor_module" -x bash -c "source ~/driver_ws/install/setup.bash && source ~/autodriver_ws/devel/setup.bash --extend && roslaunch sensor_module sensor.launch; exec bash;"
sleep 3

# 定位
gnome-terminal -t "localization_module" -x bash -c "source ~/driver_ws/install/setup.bash && source ~/autodriver_ws/devel/setup.bash --extend && roslaunch localization_module localization.launch; exec bash;"
sleep 3

# 感知
gnome-terminal -t "perception_module" -x bash -c "source ~/autodriver_ws/devel/setup.bash && roslaunch perception_module perception.launch; exec bash;"
sleep 20

# 规划
gnome-terminal -t "planning_module" -x bash -c "source ~/autodriver_ws/devel/setup.bash && roslaunch planning_module planning.launch; exec bash;"
sleep 3

# 控制
gnome-terminal -t "control_module" -x bash -c "source ~/autodriver_ws/devel/setup.bash && roslaunch control_module control.launch; exec bash;"


```

## 调试

```
bash ~/autodriver_ws/start_all.sh
```

## 操作视频

- [代码编写视频](https://www.bilibili.com/video/BV1uUKm6qEf5/?share_source=copy_web&vd_source=7d803a7e87be27fb44d43c7399e8dfb6)
- [调试视频](https://www.bilibili.com/video/BV1uUKm6qErL/?share_source=copy_web&vd_source=7d803a7e87be27fb44d43c7399e8dfb6)

## Log

- 26.07.17：first code