ROS开机自动启动节点

ROS中提供了开机自动启动节点的工具robot_upstart，借助linux systemd工具实现守护进程开机启动功能．

１　systemd工具简介

Systemd 入门教程：命令篇

Systemd 入门教程：实战篇

如何使用Journalctl查看并操作Systemd日志

systemd中文手册

关注点：systemd启动的服务，通过配置文件传递环境变量

２　robot_upstart安装节点

sudo apt-get install ros-kinetic-robot-upstart

rosrun robot_upstart install package_name/launch/start.launch --logdir /$HOME/.ros/log --job mine_job

sudo systemctl daemon-reload && sudo systemctl start mine_job

restart job:

sudo systemctl restart mine_job

stop job:

sudo systemctl stop mine_job

delete:

rosrun robot_upstart uninstall mine_job