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@@ -3,6 +3,7 @@ import os
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import time
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import oss2
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from rosbag import Bag, Compression
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+import subprocess
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import logging
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import rosbag
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from std_msgs.msg import Header
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@@ -71,9 +72,28 @@ def merge(local_bags, merged_prefix, local_merged_dir, merged_bag_name):
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logging.info("map.bag包的key为: %s" % str(map_key))
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bucket.get_object_to_file(map_key, local_map_path)
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jpg_file = local_merged_dir + merged_bag_name.split('.')[0] + '.jpg'
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- command1 = 'rosrun trajectory demo_node ' + local_map_path + ' ' + output_bag_file + ' ' + jpg_file
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- logging.info("调用命令轨迹图片生成命令: %s" % str(command1))
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- os.system(command1)
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+ # 构建命令
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+ command1 = ['rosrun', 'trajectory', 'demo_node', local_map_path, output_bag_file, jpg_file]
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+
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+ # 记录命令
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+ logging.info("调用命令轨迹图片生成命令: %s" % ' '.join(command1))
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+
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+ # 使用 subprocess.run 来执行命令，并捕获输出和错误
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+ result = subprocess.run(command1, capture_output=True, text=True)
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+
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+ # 记录命令的标准输出
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+ if result.stdout:
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+ logging.info("命令输出: %s" % result.stdout.strip())
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+
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+ # 记录命令的标准错误输出
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+ if result.stderr:
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+ logging.error("命令错误: %s" % result.stderr.strip())
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+
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+ # 检查命令的返回码
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+ if result.returncode != 0:
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+ logging.error("命令执行失败，返回码: %d" % result.returncode)
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+ else:
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+ logging.info("命令执行成功")
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jpg_key = parse_prefix + 'track.png'
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bucket.put_object_from_file(jpg_key, jpg_file)
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