1.概述
寫了這麼多ros的launch指令碼，怎麼才能開機就啟動呢，本文介紹1種方法，使用ros的 robot_upstart包,下面以pibot_bringuppackage的·bringup.launch`演示
2.robot_upstart包
2.1 安裝
使用pibot_install_ros.sh一鍵安裝工具即可安裝所有pibot所需要的ros包，如需單獨安裝sudo apt-get install ros--robot-upstart
ros_dist即為indigo或者kinetic
2.2 設定
rosrun robot_upstart install pibot_bringup/launch/bringup.launchpibot@pibot-desktop:
~$ rosrun robot_upstart install pibot_bringup/launch/bringup.launch
/lib/systemd/systemd
preparing to install files to the following paths:
/etc/ros/kinetic/pibot.d/
.installed_files
/etc/ros/kinetic/pibot.d/bringup.launch
/etc/systemd/system/multi-user.target.wants/pibot.service
/lib/systemd/system/pibot.service
/usr/sbin/pibot-start
/usr/sbin/pibot-stop
now calling:
/usr/bin/sudo /opt/ros/kinetic/lib/robot_upstart/mutate_files
filesystem operation succeeded.**
to complete installation please run the following command:
sudo systemctl daemon-reload && sudo systemctl start pibot
sudo systemctl daemon-reload && sudo systemctl start pibotps -aux |
grep pibot_bringup
pibot@pibot-desktop:~/pibot_ros$ ps -aux |
grep pibot_bringup
pibot 15971 96.3 0.7 85620 7488 ? rsl 23:26 1:13 /home/pibot/pibot_ros/ros_ws/devel/lib/pibot_bringup/pibot_driver __name:=pibot_driver __log:=/tmp/0656ed38-5ba5-11e9-be9a-b827ebff3168/pibot_driver-2.log
rosnode listpibot@pibot-desktop:~$ rosnode list
/pibot_driver
/rosout
roslaunch pibot keyboard_teleop.launch為了驗證程式是否開啟啟動了，重啟後再次重複2.3的測試步驟即可
2.4 停止以及取消開機啟動
啟動&停止
sudo
service pibot start
sudo
service pibot stop
rosrun robot_upstart uninstall pibotjob_name取了包名的下劃線前面的對pibot_bringup取了pibot
我們稍作修改
新增乙個引數指定服務名稱
對於上面我追加乙個引數pibot_bringup
rosrun robot_upstart install pibot_bringup/launch/bringup.launch pibot_bringuppibot@pibot-desktop:~$ rosrun robot_upstart install pibot_bringup/launch/bringup.launch pibot_bringup
/lib/systemd/systemd
preparing to install files to the following paths:
/etc/ros/kinetic/pibot_bringup.d/.installed_files
/etc/ros/kinetic/pibot_bringup.d/bringup.launch
/etc/systemd/system/multi-user.target.wants/pibot_bringup.service
/lib/systemd/system/pibot_bringup.service
/usr/sbin/pibot_bringup-start
/usr/sbin/pibot_bringup-stop
now calling: /usr/bin/sudo /opt/ros/kinetic/lib/robot_upstart/mutate_files
filesystem operation succeeded.
** to complete installation please run the following command:
sudo systemctl daemon-reload &&
sudo systemctl start pibot_bringup
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