Automatic start of ROS node--robot_upstart_ros

1. Install package, default is Indigo version

sudo apt-get install Ros-indigo-robot-upstart

2. I believe you have installed a lot of ROS package, I do not have a new package here, using the Turtlebot_navigation

Create a file in the Turtlebot_navigation/launch directory Start.launch

Start.launch 
<launch>
    <!--kobuki-->
    <include file= "$ (find Turtlebot_bringup)/launch/ Minimal.launch "/>
    <include file=" $ (find turtlebot_navigation)/launch/hokuyo_gmapping_demo.launch "/>
</launch>

3. Execute Install Command

Rosrun Robot_upstart Install Turtlebot_navigation/launch/start.launch

command to create a new folder under/etc/ros/indigo/turtlebot.d, copy Start.launch to the inside, and execute. ‘

If you want to modify start.launch in the future, to/etc/ros/indigo/this directory, if the Turtlebot_navigation/launch under the modification is not used

4. Open/Close Service

$sudo service Turtlebot start
[sudo] password for ubuntu:
turtlebot start/running, Process 12335

$ sudo service turtlebot stop
Turtlebot stop/waiting

As can be seen from the command, Ros Robot_upstart the startup script as a system service, similar to Samba,udev,network.

Remember when we adapted the Hokuyo laser, modified the serial port properties, so that the command to be effective is also

sudo service udev restart

Note: The name of the service here should be Turtlebot_navigation "_" before the part

If the package is Robot_autoup then the service name created is robot, the corresponding folder name is ROBOT.D
5. View Log

sudo tail-f/var/log/upstart/turtlebot.log

Log at startup and log of nodes running in this area

Analysis of 6.robot_upstart install startup command parameters

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 ...]

--job	Specify the Job (service) name, and if not, use a portion of the package
--interface	Specify the network interface
--user	Specify user startup launch script
--setup	Specifies the use of Setup.bash documents under special projects.
--rosdistro Specify	the release version of Ros
--master	Specify Ros_master_uri
--logdir Specify the	log file directory
-- Augment=false does not create a job, it simply copies user files. The default job has created        the package and path name of the successful Pkg/path installation job launch, keeping the path beginning with the package name (not using the absolute or Workspace top path)
--provider	Specifies that provider
--symlink=false create soft links rather than copy startup scripts when the correct provider cannot be automatically detected.