如何让Shell脚本开机自动运行？脚本终端正常但开机失效求助

Let's work through why your boot.sh runs perfectly when you execute it manually in the terminal, but fails to start up when configured via /etc/rc.local. First, here's your script for reference:

#!/bin/bash
cd /home/icrs/manipulator_proj
source devel/setup.bash
xterm -hold -e "roscore" &
//xterm -hold -e "cd ~/manipulator_proj/ && ls && catkin_make"
//xterm -hold -e "cd ~/manipulator_proj/ && source devel/setup.bash"
xterm -hold -e "cd ~/manipulator_proj/ && rosrun dynamixel_control dynamixel_control"
xterm -hold -e "cd ~/manipulator_proj/ && rosrun dynamixel_control ik"
xterm -hold -e "cd ~/manipulator_proj/ && rosrun dynamixel_control server_node"

Below are the key issues causing the startup failure, along with actionable fixes:

1. rc.local Runs Without User Environment & X Display #

When /etc/rc.local executes during boot, it runs as the root user—not your icrs account. This means:

• It doesn’t load your user-specific ROS environment variables.
• The X server (required for xterm to launch) hasn’t started yet.

Fix:
Run the script as your icrs user and explicitly set the display. Update your /etc/rc.local entry to:

su - icrs -c "export DISPLAY=:0 && /home/icrs/boot.sh" &

The - flag ensures your full user environment is loaded, and DISPLAY=:0 targets your primary display (adjust to :1 if you use multiple monitors).

2. Relative Paths (~) Break in rc.local #

When running as root, ~/ points to /root, not /home/icrs. The ~/manipulator_proj paths in your script will fail because that directory doesn’t exist under root’s home.

Fix:
Replace all instances of ~/manipulator_proj with the absolute path /home/icrs/manipulator_proj in your boot.sh.

3. ROS Nodes Start Before roscore is Ready #

You background roscore with &, but the subsequent xterm commands launch immediately. ROS nodes need roscore to be fully initialized before they can connect.

Fix:
Add a sleep delay after starting roscore to give it time to spin up. Modify that line in boot.sh:

xterm -hold -e "roscore" &
sleep 10  # Adjust this value if needed (5-15 seconds usually works)

4. rc.local Executes Too Early (Before X Server Starts) #

Even with the DISPLAY set, rc.local often runs before the X server is fully ready, causing xterm to fail. For desktop systems, running the script after user login is more reliable.

Alternative Fix:
Instead of rc.local, add your script to your user’s startup applications:

• For GNOME: Open "Startup Applications" → Add → Point to /home/icrs/boot.sh.
• For other DEs: Use their built-in startup manager, or add the command to your ~/.bashrc (wrap it in a check to only run once per login to avoid duplicates).

Modified boot.sh Example #

Here’s your script with path fixes and the sleep delay added:

#!/bin/bash
cd /home/icrs/manipulator_proj
source devel/setup.bash
xterm -hold -e "roscore" &
sleep 10
# xterm -hold -e "cd /home/icrs/manipulator_proj/ && ls && catkin_make"
# xterm -hold -e "cd /home/icrs/manipulator_proj/ && source devel/setup.bash"
xterm -hold -e "cd /home/icrs/manipulator_proj/ && rosrun dynamixel_control dynamixel_control"
xterm -hold -e "cd /home/icrs/manipulator_proj/ && rosrun dynamixel_control ik"
xterm -hold -e "cd /home/icrs/manipulator_proj/ && rosrun dynamixel_control server_node"

Don’t forget to ensure the script is executable:

chmod +x /home/icrs/boot.sh

内容的提问来源于stack exchange，提问作者arun kumar marri