1.安装package,默认是indigo版本
sudo apt-get install ros-indigo-robot-upstart
2.相信您已经安装了好多的ros package,我这里没有新建package,采用的是turtlebot_navigation
在turtlebot_navigation/launch目录下创建文件start.launch
start.launch
<launch>
<!-- kobuki -->
<include file="$(find turtlebot_bringup)/launch/minimal.launch" />
<include file="$(find turtlebot_navigation)/launch/hokuyo_gmapping_demo.launch" />
</launch>
3.执行install命令
rosrun robot_upstart install turtlebot_navigation/launch/start.launch
命令在/etc/ros/indigo/下新建一个文件夹turtlebot.d,将start.launch拷贝到里面,并执行。‘
如果以后想修改start.launch,到/etc/ros/indigo/这个目录下,如果到turtlebot_navigation/launch下修改是没有用的
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