ROS开机自启设置

使用robot_upstart功能包即可实现节点的开机自启

安装功能包

安装robot_upstart功能包，本文使用的Ubuntu20对应的ROS版本为noetic

sudo apt-get install ros-noetic-robot-upstart

如果使用的是Ubuntu18，则还需要安装setpriv

sudo apt-get install setpriv

自启动设置

设置自启，以下命令即可设置<package_name>功能包下的<launch_file>.launch文件开机自启

rosrun robot_upstart install <package_name>/launch/<launch_file>.launch
# 启动任务，只需要启动功能包的名字<package_name>即可
sudo systemctl daemon-reload && sudo systemctl start <package_name>
sudo service <package_name> start

停止任务

sudo service <package_name> stop

卸载自启动任务

sudo service <package_name> stop
rosrun robot_upstart uninstall <package_name>

如果对launch文件进行了更改，则需要重新设置开机自启

# 卸载自启动任务
sudo service <package_name> stop
rosrun robot_upstart uninstall <package_name>
# 重新设置自启动任务
rosrun robot_upstart install <package_name>/launch/<launch_file>.launch
sudo systemctl daemon-reload && sudo systemctl start <package_name>
sudo service <package_name> start