编写Jetson XAVIER NX开机自启动程序

Jetson XAVIER NX接上19v电源后就自动开机

写service

进入system文件夹

cd /etc/systemd/system

利用vim创建文件

sudo vim lidar.service

内容如下

[Unit]
Description=Lidar startup script

[Service]
ExeStart=/bin/bash -c '\
  source /home/hatcher/.bashrc; \
  /home/hatcher/boot.sh'

[Install]
WantedBy=multi-user.target

写shell启动脚本

vim boot.sh

#!/bin/bash -i
sleep 20
source /home/hatcher/.bashrc
/opt/ros/melodic/bin/roslaunch /home/hatcher/catkin_ws/src/arc_draw/launch/arc_draw.launch

上电后预热一分钟左右就可以用rosnode list命令观察launch文件是否成功启动