robot-upstart开机自启动

#ROS调包侠#robot

参考链接

The install script-robot_upstart 0.2.2 documentation

安装

sudo apt install ros-$ROS_DISTRO-robot-upstart

使用前准备
创建启动用的功能包和launch文件
创建base_upstart用于存放开机启动的launch文件

 cd ~/catkin_ws/src/

 cd base_upstart/

mkdir launch && cd launch

编写launch文件，将需要启动的节点活launch文件写入

vim base_upstart.launch


<launch>
    <include file="$(find base_control)/launch/base_control.launch" />
    <include file="$(find robot_vision)/launch/robot_camera.launch" /> 
    <node name="web_video_server"   pkg="web_video_server"  type="web_video_server" output="screen"/>
</launch>

编译工作空间

cd ~/catkin_ws/ && catkin_make

验证launch文件编写无误

roslaunch base_upstart base_upstart.launch

使用

roscore

rosrun robot_upstart install base_upstart/launch/base_upstart.launch --job base_upstart --interface wlan0 --logdir ~/base_upstart.log

命令中

base_upstart/launch/base_upstart.launch 为开机自启动的launch文件

--job base_upstart 指定启动的任务名为base_upstart ，名称可以自定义

--interface wlan0 指定网络接口为wlan0，也可以使用lo，即127.0.0.1的内网地址

--logdir ~/ad_upstart.log 指定启动日志存放目录

修改service 文件

加入必要的环境变量

sudo vim /lib/systemd/system/base_upstart.service

# THIS IS A GENERATED FILE, NOT RECOMMENDED TO EDIT.

[Unit]
Description="bringup base_upstart"
After=network.target

[Service]
Type=simple
Environment="BASE_TYPE=NanoCar"
Environment="LIDAR_TYPE=rplidar_super"
Environment="CAMERA_TYPE=usb100"
Environment="SONAR_NUM=1"
ExecStart=/usr/sbin/base_upstart-start

[Install]
WantedBy=multi-user.target
~

测试验证

启动服务

sudo systemctl daemon-reload && sudo systemctl start base_upstart

sudo systemctl stop base_upstart

移除自启动任务

roscore

rosrun robot_upstart uninstall base_upstart

注意事项

1、设置后修改源launch文件不会影响开机启动，因为开机启动所使用的launch文件位于/etc/ros/noetic/base_upstart.d/目录下