1.前言

前文ROS机器人底盘(33)-ROS程序开机自启动（1）使用了ROS的 robot_upstart包设置了pibot_bringup开启启动的方法，在统一用到其他的launch上会发现无法启动的问题，比如在启动gmapping时候,没有相关环境变量等，本文介绍使用systemd设置启动项

2.使用systemctrl创建服务

2.1新建服务

在/etc/systemd/system创建pibot.service

# pibot.serive
[Unit]
Description=this is pibot service

[Service]
Type=simple
ExecStart=/usr/bin/pibot_start
ExecStop=/usr/bin/pibot_stop
ExecRestart=/usr/bin/pibot_restart

[Install]
WantedBy=multi-user.target

2.2 添加执行脚本

看到我们对应的项目添加脚本即可，这里的脚本启动,这里需要设置ROS的相关环境和PIBOT的相关环境及变量

我们手动输入命令启动时候的环境变量是写在~/.basrhc,该文件会在打开bash shell的时候被加载

#pibot_start
#!/bin/bash

log_file=/tmp/pibot-upstart.log
echo "$DATE: pibot-start" >> $log_file
pibotrc=/etc/pibotrc
. $pibotrc

code_name=$(lsb_release -sc)

if [ "$code_name" = "trusty" ]; then
    ros_version="indigo"
elif [ "$code_name" = "xenial" ]; then
    ros_version="kinetic"
elif [ "$code_name" = "bionic" ]; then
    ros_version="melodic"
else
    echo "PIBOT not support $code_name" >> $log_file
    exit
fi

echo "SYS_DIST:                $code_name" >> $log_file
echo "ROS_DIST:                $ros_version" >> $log_file
echo "LOCAL_IP:                $LOCAL_IP" >> $log_file
echo "ROS_MASTER_URI:          $ROS_MASTER_URI" >> $log_file
echo "ROS_IP:                  $ROS_IP" >> $log_file
echo "HOSTNAME:                $ROS_HOSTNAME" >> $log_file
echo "PIBOT_MODEL:             $PIBOT_MODEL" >> $log_file
echo "PIBOT_LIDAR:             $PIBOT_LIDAR" >> $log_file
echo "PIBOT_BOARD:             $PIBOT_BOARD" >> $log_file

# 这里写需要添加的启动launch命令
roslaunch pibot_navigation gmapping.launch

以hera为例

#pibotenv
#source ros
source /opt/ros/kinetic/setup.bash
LOCAL_IP=192.168.12.1 #这里IP需要设置本机IP，连接外网需要在路由器设置好固定`IP`
export ROS_IP=$LOCAL_IP
export ROS_HOSTNAME=$LOCAL_IP
export PIBOT_MODEL=hera
export PIBOT_LIDAR=rplidar
export PIBOT_BOARD=stm32f4
export ROS_MASTER_URI=http://$LOCAL_IP:11311

#source pibot
source /home/pibot/pibot_ros/ros_ws/devel/setup.bash

2.3 测试

启动
sudo systemctl start pibot
停止
sudo systemctl stop pibot
重启
sudo systemctl restart pibot
开启开机启动
sudo systemctl enable pibot
关闭开机启动
sudo systemctl disable pibot
查看是否开机启动
systemctl is-enabled pibot
刷新配置
sudo systemctl daemon-reload
查看状态
sudo systemctl status pibot

3.验证

重启后，查看状态，没有错误显示则为正常

4.其他

4.1 一键配置

pibot提供一间配置脚本pibot_add_upstart.sh

#修改 ~/pibot_ros/pibot_upstart/pibotenv修改参数

cd ~/pibot_ros
./pibot_add_upstart.sh

ROS机器人底盘(39)-ROS程序开机自启动（2）