Ubuntu18.04开机自启动ROS节点程序
说明
本文实现在Ubuntu18.04环境下,开机自启动ROS节点程序的方法步骤
前提
已经具备了能够启动多个launch文件或者节点的.sh文件
这里提供一个简单的实例,test.sh内容如下:
#! /bin/bash
# sudo -S chmod 777 /home/usrname/statr.sh需要输入密码,密码123
# echo '123'|sudo -S chmod 777 /home/usrname/shouquan.txt;
gnome-terminal --tab --title=A.sh -- bash -c "cd /home/usrname/catkin_ws;source devel/setup.bash;roslaunch velodyne_pointcloud VLP16_points.launch;exec bash"
sleep 10
wait
gnome-terminal --tab --title=A.sh -- bash -c "cd /home/usrname/catkin_ws;source devel/setup.bash;roslaunch xsens_mti_driver xsens_mti_node.launch;exec bash"
sleep 10
wait
gnome-terminal --tab --title=A.sh -- bash -c "cd /home/usrname/catkin_ws;source devel/setup.bash;roslaunch apm_info apm_info.launch;exec bash"
sleep 10
wait
exit 0