#!/bin/bash

 #source /opt/ros/melodic/setup.bash 

 #source /home/pi/catkin_ws/devel/setup.bash

 #ROS_PACKAGE_PATH=~/catkin_ws/src:$ROS_PACKAGE_PATH

 #ROS_WORKSPACE=~/catkin_ws/src

 cd catkin_ws

 source devel/setup.bash

 sudo chmod  /dev/ttyUSB0

 roslaunch imu_driver imu_node.launch &

 sleep 

 sudo chmod  /dev/ttyUSB1

 roslaunch rplidar_ros rplidar.launch &

 sleep 

 source install_isolated/setup.bash

 roslaunch cartographer_ros rplidar_slam2.launch