How to start the program automatically at After system startup?(JetPack4.4.1)

I want my program to automatically start after system startup
1.But there has no “rcs” file under the directory: “/etc/init.d/”,and it doesn’t work after I create the rcs file;
2.I user the command to add autostart.desktop file which is “gnome-session-properties” ,it successfully generated the bootstrap file(.desktop) under the directory “.config/autostart/”,but it doesn’t work either.
How to start the program automatically at After system startup?

hello blstcvLiu,

how about adding your command-line into /etc/systemd/nv.sh.
this is the script file that running after system boot-up.

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Thank you very much! I solved the problem by your suggestion.