在树莓派ubuntu-mate上开机自启动roslaunch

peibaishi

　　参考：

http://blog.csdn.net/flywiththejet/article/details/55258030

1.将多个要启动的ros node写入同一个launch文件：
如my_robot_name_2dnav/launch/nav_patrol.launch

2.将要启动的roslaunch命令加入~/.bashrc文件中：
在~/.bashrc文件末尾添加如下内容：
...
...
source /opt/ros/indigo/setup.bash
source ~/catkin_ws/devel/setup.bash

export ROS_MASTER_URI=http://192.168.192.166:11311
export ROS_HOSTNAME=192.168.192.166

#robot auto start
if rostopic list ; then
  echo "roscore and robot_auto_start started!"
else
  date >> ~/start_log.txt
  echo ":nav_patrol running" >> ~/start_log.txt
  nohup roslaunch my_robot_name_2dnav nav_patrol.launch & >> ~/start_log.txt
  sleep 30
fi
...
...

3.实现系统开机自动登录功能
sudo apt-get install lightdm
vim /etc/lightdm/lightdm.conf
将#autologin-user= 改为 autologin-user=ubuntu

4.sudo reboot就ok了