ubuntu20.04中设置包含ros节点的文件自启动

若文件里包含了ros话题的发布和接收，那么设置自启动时，应该首先将roscore设置为自启动。
首先确保roscore有一个systemd服务文件。如果还没有，需要在/etc/systemd/system/下创建一个。例如，一个基本的roscore.service文件可能如下所示：

[Unit]  
Description=ROS Master Node  
After=network.target  
  
[Service]  
Type=simple  
User=your_username  # 使用你的用户名  
Environment=PATH=/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/opt/ros/melodic/bin  # 根据需要修改  
Environment=LD_LIBRARY_PATH=/opt/ros/melodic/lib:/usr/lib  # 根据需要修改  
ExecStart=/bin/bash -c "source /opt/ros/melodic/setup.bash && roscore"  
Restart=on-failure  
  
[Install]  
WantedBy=multi-user.target

上面文件中的 PATH 路径查看方式:打开一个终端并输入echo $PATH
LD_LIBRARY_PATH:输入echo $LD_LIBRARY_PATH来查看LD_LIBRARY_PATH
上面文件中的melodic要替换成自己的ros版本号。

我的roscore.service文件为：

[Unit]  
Description=ROS Master Node  
After=network.target  
  
[Service]  
Type=simple  
User=ubuntu   
Environment=PATH=/opt/ros/noetic/bin:/home/ubuntu/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin
Environment=LD_LIBRARY_PATH=/opt/ros/noetic/lib 
ExecStart=/bin/bash -c "source /opt/ros/noetic/setup.bash && roscore"  
Restart=on-failure  
  
[Install]  
WantedBy=multi-user.target

然后依次运行：

sudo systemctl daemon-reload
sudo systemctl start roscore.service
sudo systemctl status roscore.service

二、设置包含ros节点的文件自启动
包含ros节点的文件为terminal2car_receive.py

[Unit]  
Description=Terminal to Car Receiver Service  
After=network.target roscore.service  
Requires=roscore.service  
  
[Service]  
Type=simple  
ExecStart=/path/to/your/script_or_command_to_start_terminal2car_receive  
Restart=on-failure  
  
[Install]  
WantedBy=multi-user.target

上述文件中的/path/to/your/script_or_command_to_start_terminal2car_receive 要替换成运行terminal2car_receive.py时的完整路径。

terminal2car_receive.py的自启动服务文件名称为：terminal2car_receive.service，内容为：

[Unit]  
Description=Terminal to Car Receiver Service
After=network.target roscore.service  # 确保在ROS Master之后启动  
Wants=roscore.service  # 表明此服务依赖于rosmaster.service，但rosmaster.service的失败不会导致此服务失败  
  
[Service]  
Type=simple  
User=ubuntu  
Group=ubuntu  
Environment=ROS_MASTER_URI=http://localhost:11311  # ROS Master在本地运行  
Environment=ROS_HOME=/home/ubuntu/.ros  # 如果需要的话，设置ROS_HOME  
Environment=PATH=/opt/ros/noetic/bin:/home/ubuntu/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin  
Environment=LD_LIBRARY_PATH=/opt/ros/noetic/lib  
ExecStart=/bin/bash -c "source /opt/ros/noetic/setup.bash && /usr/bin/python3 /home/ubuntu/ccy/glove_car_bt/ros_udp_udp-main/src/udp_udp/scripts/terminal2car_receive.py"  
Restart=on-failure  
RestartSec=5  
  
[Install]  
WantedBy=multi-user.target
WantedBy=multi-user.target

依次运行：

sudo systemctl daemon-reload
sudo systemctl start terminal2car_receive.service
sudo systemctl status terminal2car_receive.service