ROS开机自启

本文摘自：auto start ROS launch script on boot up

• Step 1: Write a script which contains ros commands like roslaunch, roscore, etc.The script would look somewhat like this:

#! /bin/sh 
source /opt/ros/boxturtle/setup.sh 
roslaunch hokuyo_node hokuyo_test.launch 

Note the second line source /opt/ros/boxturtle/setup.sh this is the path of ros bash. We need to source ros setup in our script before we use any of the ros commands.

• Step 2: Make the script executable by using command

  sudo chmod +x /path/to/script.sh

• Step 3: Go to System –>Preferences –> Startup Application

• Step 4: click on add application or add tab, a window would popup. Add name say “rosnome”

• Step 5: On the given window in the command tab type

  gnome-terminal -x /path/to/script.sh

• Step 6: type whatever you want on the comment space or leave blank and click add

• Step 7: On the terminal Edit –>profile preferences–>title and command tab select when command exits hold the terminal open

• Step 8: reboot system and your application would auto start on boot every time.

Note: It is not possible or rather a bit difficult job to open multiple terminals from a single script so it is recommended to use a single ros launch file for the entire robot which would include everything.

中文参考：http://blog.youkuaiyun.com/yiranhaiziqi/article/details/53640523