How to run roscore or roslaunch when i boot

edit

I am using systemd . Here are the few links that helped me

1. create a systemd service

2. I am trying to launch lidar on boot, hence i also need some port permission/or available sequence and here is link that might help

Here is how my both service and .sh file look like

Service

[Unit]
Description=start roscore
After=remote-fs.target
After=syslog.target
[Service]
ExecStart=/usr/local/bin/rosCoreService.sh
Restart=on-abort

[Install]
WantedBy=multi-user.target

.sh file

#!/bin/bash
source /home/bc/.bashrc
source /opt/ros/kinetic/setup.bash
source /home/bc/catkin_ws/devel/setup.bash
roslaunch multitower_rplidar rplidar.launch

some of them might not be needed but i don't know which of them are.

Here are the steps:

1. Make a new script file lets take startup.sh.
2. Before calling the roscore and roslaunch in startup file, the ros environment should be sourced, so source the environment by addiing source /opt/ros/<distro>/setup.sh or . /opt/ros/<distro>/setup.sh
3. Now you can add the ros command in the startup file like roscore or roslaunch. if directly roscore or rolaunch does not work launch this command from the ros/<distro>bin by adding the line /opt/ros/<distro>/bin/roscore.
4. Give executable permission to file sudo chmod 755 /etc/init.d/startup.sh

Note: make sure while creating the new file you add #!/bin/sh in the first line.