機械臂開機自動調用了gauss-ros-start命令。 1、查看開機啟動腳本 gauss-ros-start ```bash gauss@gauss-ros:~$ which gauss-ros-start ?/usr/local/bin/gauss-ros-start gauss@gauss-ros:~$ cat /usr/local/bin/gauss-ros-start ? #!/bin/bash? #log info "gauss-ros: Using workspace setup file /home/gauss/Project/gauss_ws/devel/setup.bash" ? source /home/gauss/Project/gauss_ws/devel/setup.bash? export ROS_HOSTNAME=$(hostname)? export ROS_MASTER_URI=http://127.0.1.1:11311? roslaunch gauss_bringup rpi_setup.launch ``` 2、查看啟動腳本gauss-ros-start是否被設置為開機自動 ```bash gauss@gauss-ros:~$ systemctl list-unit-files | grep gauss gauss-ros.service enabled pm2-gauss.service enabled ``` 3、啟動腳本的啟動和停止 停止開機啟動 ```bash gauss@gauss-ros:~$ systemctl disable gauss-ros.service ==== AUTHENTICATING FOR org.freedesktop.systemd1.manage-unit-files === Authentication is required to manage system service or unit files. Authenticating as: jeremy,,, (gauss) Password: ==== AUTHENTICATION COMPLETE === Removed symlink /etc/systemd/system/multi-user.target.wants/gauss-ros.service. ==== AUTHENTICATING FOR org.freedesktop.systemd1.reload-daemon === Authentication is required to reload the systemd state. Authenticating as: jeremy,,, (gauss) Password: ==== AUTHENTICATION COMPLETE === gauss@gauss-ros:~$ systemctl list-unit-files | grep gauss gauss-ros.service disabled pm2-gauss.service enabled ``` 設置開機啟動 ```bash gauss@gauss-ros:~$ systemctl enable gauss-ros.service ==== AUTHENTICATING FOR org.freedesktop.systemd1.manage-unit-files === Authentication is required to manage system service or unit files. Authenticating as: jeremy,,, (gauss) Password: ==== AUTHENTICATION COMPLETE === Created symlink from /etc/systemd/system/multi-user.target.wants/gauss-ros.service to /lib/systemd/system/gauss-ros.service. ==== AUTHENTICATING FOR org.freedesktop.systemd1.reload-daemon === Authentication is required to reload the systemd state. Authenticating as: jeremy,,, (gauss) Password: ==== AUTHENTICATION COMPLETE === gauss@gauss-ros:~$ systemctl list-unit-files | grep gauss gauss-ros.service enabled pm2-gauss.service enabled ``` 4、kill 掉所有的 ros 節點 ``` rosnode kill -a ``` 5、一鍵啟動機械臂的軟件 ``` gauss-ros-start ```