Auto start firefox-esr in kiosk mode on boot

1. Create the autostart directory:

mkdir -p /home/pi/.config/autostart

1. Open a new text file in your preferred editor.
2. Add the following three lines:

[Desktop Entry] Type=Application Exec=mousepad Replace mouespad with the command of your choice.

1. Save in /home/pi/.config/autostart with a name ending in .desktop e.g.

mousepad.desktop

1. Logout and login or reboot.