开机自启，免开机登录及图形界面

1. start.sh

#!/bin/bash # JzBot 启动脚本 - 使用后台进程，不依赖桌面 # 检查ROS2环境 if [ -f "/opt/ros/humble/setup.bash" ]; then source /opt/ros/humble/setup.bash fi # 检查工作空间 if [ -f "/home/bsbot/bsbot_clean/install/setup.bash" ]; then source /home/bsbot/bsbot_clean/install/setup.bash fi # 激活CAN接口 source '/home/jzbot/jzbot_clean/src/differential_drive_can/scripts/can_activate.sh' # 启动节点到后台 echo "启动 SocketCAN Bridge..." ros2 launch ros2_socketcan socket_can_bridge.launch.xml & sleep 2 echo "启动 Differential Drive CAN Node..." source install/setup.bash ros2 run differential_drive_can differential_drive_can_node & sleep 3 echo "启动 JZBot Joy Control..." source install/setup.bash ros2 launch jzbot_joy joy.launch.py & echo "所有节点已启动" wait

2. start.service

sudo gedit /etc/systemd/system/jzbot.service

[Unit] Description=JZBot ROS2 System [Service] Type=simple User=jzbot WorkingDirectory=/home/jzbot/jzbot_clean ExecStart=/home/jzbot/jzbot_clean/start_jzbot.sh Restart=on-failure RestartSec=5 [Install] WantedBy=multi-user.target

# 给脚本加执行权限 chmod +x /home/jzbot/jzbot_clean/start_jzbot.sh # 重载服务 sudo systemctl daemon-reload sudo systemctl enable jzbot.service sudo systemctl start jzbot.service # 查看日志 sudo journalctl -u bsbot.service -f