1. 创建一个start_ROS.sh文件
2. 加入类似如下的代码(改为自己的roslaunch):
#!/bin/bash
#source bash
source ~/rocon/devel/setup.bash
source ~/kobuki/devel/setup.bash
source ~/turtlebot/devel/setup.bash
source ~/turtlebot_ws/devel/setup.bash
source ~/catkin_ws/devel/setup.bash
#远程master(需要写)
export ROS_MASTER_URI=http://192.168.3.75:11311
export ROS_HOSTNAME=192.168.3.165
#启动底盘
gnome-terminal --window -e "roslaunch turtlebot_bringup minimal.launch"
#等待10s
sleep 10s
#启动激光雷达gmapping
gnome-terminal --window -e "roslaunch turtlebot_navigation rplidar_gmapping_demo.launch"
wait
exit 0
3. 开启权限
chmod +x start_ROS.sh
4. 测试运行.sh文件
./start_ROS.sh
5. 没有问题后,加入自启动列表
终端运行:gnome-session-properties
添加进去