robot_upstart guide - robotique-udes/zeus_rover GitHub Wiki

The robot_upstart package is used to make a launch file execute on startup by making it into a service.

Create service

rosrun robot_upstart install --master http://{ip}:11311 --job zeus_bringup {package_name}/launch/{launch_file}

Robot_upstart will then ask you to run another command. Before doing this, you will need to make changes to /usr/sbin/zeus_bringup-start. Comment the following line:

#export ROS_HOSTNAME=$(hostname)

Add the following line underneath with the correct IP address:

export ROS_IP={ip}

You can now run this command:

sudo systemctl daemon-reload && sudo systemctl start zeus_bringup

Remove service

rosrun robot_upstart uninstall zeus_bringup

Modify the service

When you modify the launch file you also need to modify the service for the changes to take effect. To do so, uninstall and then reinstall the service.