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I manage ROS like this. I put all launch files inside one master "all.launch", and then I start that using the supervisor service, a simple tool for creating daemons. You can install this on Ubuntu with:

sudo apt-get install supervisor

I configure it by creating a file /etc/supervisor/conf.d/myrobot.conf which looks like:

[program:myrobot]
command=bash -c "source /usr/local/myrobot/src/ros/setup.bash; roslaunch myrobot all.launch"
directory=/usr/local/myrobot/src/ros
user=ubuntu
stdout_logfile=/var/log/supervisor-myrobot.log
stderr_logfile=/var/log/supervisor-myrobot.log
autostart=true
autorestart=true
startretries=3
priority=998
stopasgroup=true

Then, when the system boots, it launches all your ROS nodes automatically. If you want to cleanly stop it, you'd run:

sudo supervisorctl stop myrobot

Similarly, to start it, you'd run:

sudo supervisorctl start myrobot