ROS节点开机自启动

ROS节点开机自启动（robot_upstart方法）

• 从 gitlab 下载 robot_upstart 并编译

• 将需要启动的所有ROS节点集中写到一个launch文件

  <launch>
  
    <!-- base -->
    <include file="$(find myntbot_bringup)/launch/minimal_with_tf.launch"/>
  
    <!-- bumper to marker -->
    <include file="$(find bumper_to_marker)/launch/path_marker.launch"/> 
  
  </launch>
  

• 装载该launch 文件

  rosrun robot_upstart install  _bringup/launch/upStart.launch --job _upStart --interface wlan0 --logdir ~/.ros/log/upstart
  

• /lib/systemd/systemd
  Preparing to install files to the following paths:
    /etc/ros/kinetic/dolphin_upStart.d/.installed_files
    /etc/ros/kinetic/dolphin_upStart.d/upStart.launch
    /etc/systemd/system/multi-user.target.wants/dolphin_upStart.service
    /lib/systemd/system/dolphin_upStart.service
    /usr/sbin/dolphin_upStart-start
    /usr/sbin/dolphin_upStart-stop
  Now calling: /usr/bin/sudo /home/mynt/dolphin/src/robot_upstart/scripts/mutate_files
  [sudo] password for mynt: 
  Filesystem operation succeeded.
  ** To complete installation please run the following command:
   sudo systemctl daemon-reload && sudo systemctl start dolphin_upStart
  

• 注意安装 daemon tools