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I haven't found an example script, but there are two mailing list conversations about this problem where they talk about how to write one (what steps need to be in the script) that might be helpful for you.

http://ros-users.122217.n3.nabble.com/Best-way-to-start-a-launch-file-automatically-on-startup-td1768616.html

http://ros-users.122217.n3.nabble.com/auto-start-ROS-launch-script-on-boot-up-td1687093.html

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