To add something to the startup configuration of Minnebot, you need to edit the aqua.launch file. This launch file is in the aqualaunch package, and is the launch script that is run once Minnebot has booted and started up ROS.
To add something to this file, go to the aqualaunch package on the vision computer, and edit the aqua.launch launch file. You can call out to other launch files, set parameters, or start single nodes. For more information on how to edit launch files, see http://wiki.ros.org/roslaunch/XML
Remember that anything you add here will be run any time the robot is switched on, and be mindful of the consequences of that. If you are running untethered, your AquaMenu launch and either an AR tag recognizer or RoboGest detector should be set up in here.