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ubuntu 16.04 boot from launch file

I have a robot to install Ubuntu 16.04 now, want to boot a launch file, but tried a lot of methods effect is not ideal, used to start in the /etc/rc.local file, Su firefly -c "/etc/init.d/start_ros.sh" after the start, without any operation of the nodes, and the use of robot_upstart, URI and hostname cannot be specified for master, if you can provide effective the method, thank you very much