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We use systemd service with properly defined environment variables, works fine. Example:
[Unit]
Description="Project daemon"
[Service]
Environment="ROS_DOMAIN_ID=42"
Environment="LD_LIBRARY_PATH=/opt/project/install/lib:/opt/ros/dashing/lib"
Environment="PYTHONPATH=/opt/project/install/lib/python3.6/site-packages:/opt/ros/dashing/lib/python3.6/site-packages/"
Environment="AMENT_PREFIX_PATH=/opt/project/install:/opt/ros/dashing"
ExecStart=/opt/ros/dashing/bin/ros2 launch --debug project_bringup project.launch.py
Restart=on-failure
[Install]
WantedBy=multi-user.target
Not really a ROS-related question, but you likely want to look into cron (assuming *nix since you speak of rc.local) with @reboot, for example as seen in this article.
There are plenty of questions about the details of what else you need to do though: try googling "ros node at startup site:answers.ros.org" and see what's applicable to ROS2 as well.
EDIT: best answer for ROS1 even though I couldn't find a ROS2 equivalent of the robot_upstart package.
Asked: 2019-09-26 00:16:21 -0500
Seen: 2,926 times
Last updated: Oct 02 '19
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