開機自動啟動ros節點--robot_upstart
阿新 • • 發佈：2018-12-10
1.安裝package，預設是indigo版本
sudo apt-get install ros-indigo-robot-upstart2.執行install命令
根據自己實際工程souce下
[email protected]:/mnt# source devel_isolated/setup.bash安裝launch
rosrun robot_upstart install cartographer_turtlebot/launch/kinco_start.launch --job kinco --logdir /root/.ros/logcartographer_turtlebot是工程包名，kinco_start.launch是需要自動啟動的launch，--job指定別名，--logdir指定log儲存地址。
[email protected]:/mnt# rosrun robot_upstart install -h usage: install [-h] [--job JOB] [--interface ethN] [--user NAME] [--setup path/to/setup.bash] [--rosdistro DISTRO] [--master http://MASTER:11311] [--logdir path/to/logs] [--augment] [--provider [upstart|systemd]] [--symlink] pkg/path [pkg/path ...] Use this tool to quickly and easily create system startup jobs which run one or more ROS launch files as a daemonized background process on your computer. More advanced users will prefer to access the Python API from their own setup scripts, but this exists as a simple helper, an example, and a compatibility shim for previous versions of robot_upstart which were bash-based. positional arguments: pkg/path Package and path to install job launch files from. Make sure the path starts with the package name (e.g. don't pass absolute path nor a path starting from workspace top folder etc.) optional arguments: -h, --help show this help message and exit --job JOB Specify job name. If unspecified, will be constructed from package name. --interface ethN Specify network interface name to associate job with. --user NAME Specify user to launch job as. --setup path/to/setup.bash Specify workspace setup file for the job launch context. --rosdistro DISTRO Specify ROS distro this is for. --master http://MASTER:11311 Specify an alternative ROS_MASTER_URI for the job launch context. --logdir path/to/logs Specify an a value for ROS_LOG_DIR in the job launch context. --augment Bypass creating the job, and only copy user files. Assumes the job was previously created. --provider [upstart|systemd] Specify provider if the autodetect fails to identify the correct provider --symlink Create symbolic link to job launch files instead of copying them.
執行安裝後
[email protected]:/mnt# rosrun robot_upstart install cartographer_turtlebot/launch/kinco_start.launch --job kinco --logdir /root/.ros/log /lib/systemd/systemd Preparing to install files to the following paths: /etc/ros/kinetic/kinco.d/.installed_files /etc/ros/kinetic/kinco.d/kinco_start.launch /etc/systemd/system/multi-user.target.wants/kinco.service /lib/systemd/system/kinco.service /usr/sbin/kinco-start /usr/sbin/kinco-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 kinco
3.新增systemd需要的環境變數
檢視變數位置 /lib/systemd/system/kinco.service。次檔案在upstart安裝後會自動改變，需要安裝ros launch後再修改此檔案的環境變數
[email protected]:~# systemctl status kinco
* kinco.service - "bringup kinco"
Loaded: loaded (/lib/systemd/system/kinco.service; enabled; vendor preset: enabled)
Active: active (running) since Fri 2016-02-12 00:28:01 CST; 2 years 7 months ago
Main PID: 521 (kinco-start)根據自己工程的實際情況修改環境變數
# THIS IS A GENERATED FILE, NOT RECOMMENDED TO EDIT.
[Unit]
Description="bringup kinco"
After=network.target
[Service]
Type=simple
Environment="HOME=/root"
EnvironmentFile=-/mnt/src/config/param/environ.kinco
ExecStart=/usr/sbin/kinco-start
[Install]
WantedBy=multi-user.target
4.啟動launch，以後開機會自動開啟
[email protected]:/mnt# systemctl daemon-reload
[email protected]:/mnt# service kinco start