When KDE is installed, the kioclient can be used for this purpose:
kioclient exec file:/PATH_TO_DESKTOP_FILE
Custom desktop files are stored in ~/.local/share/applications, so this is easy to wrap in a shell function for inclusion in ~/.bashrc :
xdg-exec () {
kioclient exec file:${HOME}/.local/share/applications/${1}.desktop
}
kioclient exec file:${HOME}/.local/share/applications/${1}.desktop
}
Example:
bash$ xdg-exec rxvt-unicode
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