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You can use robot_upstart to generate a "service" that will run a launch file. Within the launch file you may include your node(s), parameters, bag, etc.

You can use robot_upstart to generate a "service" that will run a launch file. Within the launch file you may include your node(s), parameters, bag, etc. etc.

You can use robot_upstart to generate a "service" that will run a launch file. Within the launch file you may include your node(s), parameters, bag, etc.

The first step is to get a launch file which does everything you want. Do that before attempting to use robot_upstart and it will dramatically reduce debugging any issues you may have.