Linux ros 开机自启动

1. 切换路径到cd /etc/systemd/system下，新建mydemo.service文件，sudo vim mydemo.service，内容为：

   [Unit]
   Description=Mydemo Startup
   After=default.target
   Restart=on-abort
   
   [Service]
   ExecStart=/etc/mydemo.sh
   
   [Install]
   WantedBy=default.target
   

2. 创建自启动脚本文件sudo vim /etc/mydemo.sh，内容如：

   #!/usr/bin/env bash
   bash -c "source /opt/ros/melodic/setup.bash && source /home/nvidia/catkin_ws/devel/setup.bash && roslaunch camera_pub camera_test.launch"
   

3. 设置自启动：
   systemctl daemon-reload
systemctl enable mydemo.service
4. reboot，重启，并查看运行状态：
   systemctl status mydemo.service
5. 结束程序，根据4中显示的运行状态中的pid
   kill -9 xxx
6. 其他：手动运行测试自启动，避免每次reboot测试自启动：
   sudo systemctl start mydemo.service
systemctl status mydemo.service
7. end