LinuxCNC from boot

Hi There...I would like linuxcnc to start from boot or restart without user intervention.  

Has anyone done this before that can offer any guidance?  
Thanks for any help!

This is the version information I have...let me know if more is needed...
:/opt/scripts/tools$ sudo ./version.sh
git:/opt/scripts/:[5b2e16aa1e5c0f627f1d48a6dd1c13b446b9f53b]
eeprom:[A335BNLT00C02217SBB27636]
model:[TI_AM335x_BeagleBone_Black]
dogtag:[Machinekit Debian Image 2019-09-15]
bootloader:[microSD-(push-button)]:[/dev/mmcblk0]:[U-Boot 2019.04-00002-gbb4af0f50f]:[location: dd MBR]
kernel:[4.19.71-bone-rt-r38]

I have tried implementing a systemd service.  At this point I am unable to even start the systemd service manually (systemctl start linuxcnc.service).  I can run the /home/machinekit/linuxcnc_start.sh without systemd and linuxcnc starts up without issue.  

    Nov 04 01:34:52 beaglebone systemd[1]: linuxcnc.service: Passing 0 fds to service
    Nov 04 01:34:52 beaglebone systemd[1]: linuxcnc.service: About to execute: /home/machinekit/linuxcnc_start.sh
    Nov 04 01:34:52 beaglebone systemd[1]: linuxcnc.service: Forked /home/machinekit/linuxcnc_start.sh as 4263
    Nov 04 01:34:52 beaglebone systemd[1]: linuxcnc.service: Changed failed -> start
    Nov 04 01:34:52 beaglebone systemd[1]: Starting linuxcnc.service...
    Nov 04 01:34:52 beaglebone systemd[4263]: linuxcnc.service: Executing: /home/machinekit/linuxcnc_start.sh
    Nov 04 01:34:52 beaglebone systemd[1]: linuxcnc.service: User lookup succeeded: uid=1000 gid=1000
    Nov 04 01:34:55 beaglebone sudo[4361]: machinekit : TTY=unknown ; PWD=/home/machinekit/machinekit/configs/Turny ; USER=root ; COMMAND=/usr/bin/config-pin -f -
    Nov 04 01:34:55 beaglebone sudo[4361]: pam_unix(sudo:session): session opened for user root by (uid=0)
    Nov 04 01:34:55 beaglebone sudo[4361]: pam_unix(sudo:session): session closed for user root
    Nov 04 01:35:02 beaglebone rtapi:0[4338]: unload: '' not loaded
    Nov 04 01:35:02 beaglebone rtapi:0[4338]: unload: '' not loaded
    Nov 04 01:35:02 beaglebone rtapi:0[4338]: unload: '' not loaded
    Nov 04 01:35:02 beaglebone rtapi:0[4338]: unload: '' not loaded
    Nov 04 01:35:03 beaglebone msgd:0[4333]: rtapi_app exit detected - scheduled shutdown
    Nov 04 01:35:05 beaglebone msgd:0[4333]: msgd shutting down
    Nov 04 01:35:05 beaglebone systemd[1]: linuxcnc.service: Child 4263 belongs to linuxcnc.service
    Nov 04 01:35:05 beaglebone systemd[1]: linuxcnc.service: Main process exited, code=exited, status=1/FAILURE
    Nov 04 01:35:05 beaglebone systemd[1]: linuxcnc.service: Changed start -> failed
    Nov 04 01:35:05 beaglebone systemd[1]: linuxcnc.service: Job linuxcnc.service/start finished, result=failed
    Nov 04 01:35:05 beaglebone systemd[1]: Failed to start linuxcnc.service.
    Nov 04 01:35:05 beaglebone systemd[1]: linuxcnc.service: Unit entered failed state.
    Nov 04 01:35:05 beaglebone systemd[1]: linuxcnc.service: Failed with result 'exit-code'.
    Nov 04 01:35:05 beaglebone systemd[1]: linuxcnc.service: cgroup is empty

     cat /etc/systemd/system/linuxcnc.service
    [Unit]
    Description=linuxcnc.service

    [Service]
    Type=oneshot
    ExecStart=/home/machinekit/linuxcnc_start.sh
    WorkingDirectory=/home/machinekit
    User=machinekit

    [Install]
    WantedBy=multi-user.target
(I have also tried WantedBy=graphical.target)

Hi Tommy...this is a debian installation on a Beaglebone.

Thanks,
Alan

I was able to do achieve most of what I needed using systemd. 

If you want to replicate this here is what I've done...

Note...I was unable to post the needed files here with their original suffixes:  

linuxcnc.service         Place in /etc/systemd/system     
linuxcnc_start.sh        Place in /home/machinekit/          Check that it is executable

I then used sudo systemctl enable linuxcnc.service. 

The *.ini file I had to modify in the following manner:

# Name of display program, e.g., tkemc
#DISPLAY = keystick
#DISPLAY = axis
#DISPLAY = tklinuxcnc

#https://forum.linuxcnc.org/38-general-linuxcnc-questions/38332-run-linuxcnc-from-python-interface-without-axis-gui
DISPLAY = halui

further down...
#HALUI = halui

This has gotten me pretty close, but not quite where I want to be.  If I use VNC and run a python program that imports linuxcnc, I can then communicate in subsequent SSH sessions.  However, if I only SSH, then only the first session works.  If anyone knows why this is I would be glad to know.

Thanks for the help, both in this post and others in this forum...Alan