（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

[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 localhost 11311 > /dev/null; do sleep 1; done”
[Install]
WantedBy=multi-user.target

/etc/ros/env.sh

#!/bin/sh
export ROS_HOSTNAME=$(hostname).localexport ROS_MASTER_URI=http://$ROS_HOSTNAME:11311

[Unit]
Requires=roscore.service
PartOf=roscore.service
After=NetworkManager.service time-sync.target roscore.service
[Service]
Type=simple
User=[TODO enter user name here]
ExecStart=/usr/sbin/roslaunch
[Install]
WantedBy=multi-user.target

#!/bin/bash
source ~/catkin_ws/devel/setup.bash
source /etc/ros/env.sh
export ROS_HOME=$(echo ~[TODO unter your username here)/.ros
[TODO place your roslaunch command here] &
PID=$!
wait “$PID”

$ sudo systemctl enable roscore.service
$ sudo systemctl enable roslaunch.service
$ sudo chmod +x /usr/sbin/roslaunch