开机自启ROS脚本

方法参考 ：http://ros-users.122217.n3.nabble.com/auto-start-ROS-launch-script-on-boot-up-td1687093.html

Step 1: Write a script which contains ros commands like roslaunch, roscore, etc.The script would 
look somewhat like this: 
#! /bin/bash 
source /opt/ros/hydro/setup.sh 
roscore

Note the second line source /opt/ros/hydro/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. 

 

转载于:https://www.cnblogs.com/Sobot/p/4249030.html