在树莓派ubuntu-mate上开机自启动roslaunch

Posted 2020-10-14

参考：

http://blog.csdn.net/flywiththejet/article/details/55258030

 

1.将多个要启动的ros node写入同一个launch文件：

如my_robot_name_2dnav/launch/nav_patrol.launch

 

2.将要启动的roslaunch命令加入~/.bashrc文件中：

在~/.bashrc文件末尾添加如下内容：

...

...

source /opt/ros/indigo/setup.bash

source ~/catkin_ws/devel/setup.bash

export ROS_MASTER_URI=http://192.168.192.166:11311

export ROS_HOSTNAME=192.168.192.166

 

#robot auto start

if rostopic list ; then

  echo "roscore and robot_auto_start started!"

else

  date >> ~/start_log.txt

  echo ":nav_patrol running" >> ~/start_log.txt

  nohup roslaunch my_robot_name_2dnav nav_patrol.launch & >> ~/start_log.txt

  sleep 30

fi

...

...

 

3.实现系统开机自动登录功能

sudo apt-get install lightdm

vim /etc/lightdm/lightdm.conf

将#autologin-user= 改为 autologin-user=ubuntu

 

4.sudo reboot就ok了