本文摘自:auto start ROS launch script on boot up
- Step 1: Write a script which contains ros commands like roslaunch, roscore, etc.The script would look somewhat like this:
#! /bin/sh
source /opt/ros/boxturtle/setup.sh
roslaunch hokuyo_node hokuyo_test.launch
Note the second line
source /opt/ros/boxturtle/setup.sh
this is the path of ros bash. We need to source ros setup in our script before we use any of the ros commands.
Step 2: Make the script executable by using command
sudo chmod +x /path/to/script.sh
Step 3: Go to System –>Preferences –> Startup Application
Step 4: click on add application or add tab, a window would popup. Add name say “rosnome”
Step 5: On the given window in the command tab type
gnome-terminal -x /path/to/script.sh
Step 6: type whatever you want on the comment space or leave blank and click
add
Step 7: On the terminal Edit –>profile preferences–>title and command tab select when command exits hold the terminal open
Step 8: reboot system and your application would auto start on boot every time.
Note: It is not possible or rather a bit difficult job to open multiple terminals from a single script so it is recommended to use a single ros launch file for the entire robot which would include everything.
中文参考:http://blog.csdn.net/yiranhaiziqi/article/details/53640523