https://github.com/CPFL/Autoware/blob/master/README.md
How to Start
```
$ cd $HOME/Autoware/ros
$ ./run
run:
# boot ros-master 启动一个50X0大小term终端,运行roscore作为ros进程管理者
${TERMINAL} ${OPTION_CORE_GEOMETRY} ${OPTION_TITLE}="roscore" --${OPTION_WORKING_DIR}=${MY_PATH} ${OPTION_COMMAND}="bash -c 'source ./devel/setup.bash; roscore'"&
#gnome-terminal --geometry=50x10+0+0 --title="roscore" --working-directory=/home/lenovo--command="bash -c 'source ./devel/setup.bash; roscore'"&
# boot runtime_manager 初始化catkin工作环境,rosrun manager可视化窗口
${TERMINAL} ${OPTION_RM_GEOMETRY} ${OPTION_TITLE}="runtime_manager" --${OPTION_WORKING_DIR}=${MY_PATH} ${OPTION_COMMAND}="bash -c 'source ./devel/setup.bash; rosrun runtime_manager runtime_manager_dialog.py'"
入口: rosrun runtime_manager runtime_manager_dialog.py
启动: 运行 run
看看 runtime_manager_dialog.py
上图的各个tab初始化
load 了很多yaml 文件 看看computing.yaml及computing tab内容:
yaml里指定了各个子模块的启动运行命令: rosrun or roslaunch
管理控制台上图中点击各个子模块即可启动各个功能:
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