（7）ROS开机自启动一

想要实现ROS的开机自启，您需要完成一下文件的创建！用sudo gedit 文件名.后缀 创建文件

/etc/systemd/system/roscore.service

该文件将启动roscore，您需要确保在[TODO]处填写用户名，并将动力学更改为所使用的ROS版本。

[Unit]
After=NetworkManager.service time-sync.target
[Service]
Type=forking
User=[TODO enter user name here]
# Start roscore as a fork and then wait for the tcp port to be opened
# —————————————————————-
# Source all the environment variables, start roscore in a fork
# Since the service type is forking, systemd doesn’t mark it as
# ‘started’ until the original process exits, so we have the
# non-forked shell wait until it can connect to the tcp opened by
# roscore, and then exit, preventing conflicts with dependant services
ExecStart=/bin/sh -c “. /opt/ros/kinetic/setup.sh; . /etc/ros/env.sh; roscore & while ! echo exit | nc localhos