20220708-startup

style1:(available)
gnome-session-properties

Name:StartUp
Command:bash /home/r2slam/Desktop/StartUp/main.sh

./bashrc
export LD_LIBRARY_PATH=/opt/Basler_blaze/lib/gentlproducer/gtl #/ProducerBlaze.cti

=============================================
style2:(start up roscore on the background)
add the file(etc/rc.local)
$sudo gedit ./rc.local
#!/usr/bin/bash

source /opt/ros/noetic/setup.bash
source /home/r2slam/catkin_ws/devel/setup.bash
source /home/r2slam/catkin_ws1/devel/setup.bash

#su r2slam
#roscore &
#echo "$USER"
#echo "success to start the bash by rc.local" > /home/r2slam/test.log
#cd /home/r2slam/Desktop/StartUp
#gnome-terminal -t "roscore" -- bash -c "./main.sh;exec bash;"
#su r2slam
#gnome-terminal -t "roscore" -- bash -c "./main.sh;"
#echo "Hele me" >> /home/r2slam/test.log
#echo "USER" >> /home/r2slam/test.log
#echo "$USER" >> /home/r2slam/test.log
#echo "$USER"  >> /home/r2slam/test.log
#cd /home/r2slam/Desktop/StartUp
#sh ./touch.sh
#sh \home\r2slam\Desktop\StartUp\main.sh
exit 0


=========================
(main.sh)
 #!/usr/bin/bash
#sleep 5 # wait 3 seconds
#sh roscore.sh
#echo -e ${string}
#sleep 5 # wait 3 seconds
#sh roscore.sh
#echo -e ${string}

echo "Hello World" > /home/r2slam/Desktop/StartUp/hello.txt
source /opt/ros/noetic/setup.bash
source /home/r2slam/catkin_ws/devel/setup.bash
source /home/r2slam/catkin_ws1/devel/setup.bash
#gnome-terminal
cd /home/r2slam/Desktop/StartUp
#roscore &
gnome-terminal -t "roscore" -- bash -c "./roscore.sh;exec bash;"
#gnome-terminal -t "roscore" -- bash -c "./roscore.sh;"
#sh ./roscore.sh
#sh ./touch.sh
sleep 100
exit 0
=============================
(roscore.sh)
#!/usr/bin/bash

echo "roscore ..."
string="Hello,World!\n"
sleep 5
/opt/ros/noetic/bin/roscore
sleep 20
#sleep 3

=============================
(touch.sh)
 #!/usr/bin/bash

 touch 123.txt