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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 launch, hence i also need some post permission 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.

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 launch, boot, hence i also need some post port permission 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.

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 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.