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Hi,
Here is the functions we use in our init.d file to start / stop ros. It prints the output of the node in tty8 and tty9. It could be combined with screen for easier use as well.
start_ros () {
source /opt/ros/setup.sh
roscore <>/dev/tty8 2>/dev/tty8 & disown
until rostopic list ; do sleep 1; done
roslaunch YOUR_PACKAGE YOUR_LAUNCH_FILE.launch <> /dev/tty9 2>/dev/tty9 & disown
}
stop_ros () {
source /opt/ros/setup.sh
#killall nodes
for i in $( rosnode list ); do
rosnode kill $i;
done
#stop roscore
killall roscore
}