请问如何进行一个脚本文件的自启动

板卡使用 新手上路
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1

请问如何进行一个开机就自己启动相对应的脚本程序啊？目前有哪些办法？

2

您好，可以参考开发手册的自启动章节

3

以下链接是配置自启动的方式：-
https://developer.horizon.ai/api/v1/fileData/documents\_pi/System\_Configuration/System\_Configuration.html#id6

可以先把用户手册都大概看一下。

4

我按用户手册的改了rc.local, 添加了以下内容，用来自动启动样例中的人体跟踪程序

“”“

chmod a=rx,u+ws /usr/bin/sudo

chown sunrise:sunrise /home/sunrise

which “hrut_count” >/dev/null 2>&1

if [ $? -eq 0 ]; then

hrut_count 0

fi

source /opt/ros/foxy/setup.bash

source /opt/tros/setup.bash

source /userdata/myRobot/install/setup.bash

cd /root

export CAM_TYPE=usb

nohup ros2 launch body_tracking hobot_body_tracking_without_gesture.launch.py>body.log&

”“”

但是报错了，同样的这个脚本，如果用手动启动是没问题的。

body.log报错的部分内容如下：

“”“

[hobot_usb_cam-1]

[hobot_usb_cam-1] >>> [rcutils|error_handling.c:108] rcutils_set_error_state()

[hobot_usb_cam-1] This error state is being overwritten:

[hobot_usb_cam-1]

[hobot_usb_cam-1] ‘rcutils_expand_user failed, at /home/kairui/cc_ws_release/tros_ws/src/tros/rcl_logging/rcl_logging_spdlog/src/rcl_logging_spdlog.cpp:248’

[hobot_usb_cam-1]

[hobot_usb_cam-1] with this new error message:

[hobot_usb_cam-1]

[hobot_usb_cam-1] ‘Failed to get logging directory, at /home/kairui/cc_ws_release/tros_ws/src/tros/rcl_logging/rcl_logging_spdlog/src/rcl_logging_spdlog.cpp:93’

[hobot_usb_cam-1]

[hobot_usb_cam-1] rcutils_reset_error() should be called after error handling to avoid this.

[hobot_usb_cam-1] <<<

[hobot_usb_cam-1] [ERROR] [1663816716.248946494] [rclcpp]: rcl context unexpectedly not shutdown during cleanup

[body_tracking-4]

[body_tracking-4] >>> [rcutils|error_handling.c:108] rcutils_set_error_state()

[body_tracking-4] This error state is being overwritten:

[body_tracking-4]

[body_tracking-4] ‘rcutils_expand_user failed, at /home/kairui/cc_ws_release/tros_ws/src/tros/rcl_logging/rcl_logging_spdlog/src/rcl_logging_spdlog.cpp:248’

[body_tracking-4]

[body_tracking-4] with this new error message:

[body_tracking-4]

[body_tracking-4] ‘Failed to get logging directory, at /home/kairui/cc_ws_release/tros_ws/src/tros/rcl_logging/rcl_logging_spdlog/src/rcl_logging_spdlog.cpp:93’

[body_tracking-4]

[body_tracking-4] rcutils_reset_error() should be called after error handling to avoid this.

”“”

请问下，是什么问题，应该如何改

5

好的，谢谢