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I have several RHEL Linux servers, but sometimes when the servers hangup, in the restart, a few services don't start because uncleaned lock files.

Where is the best place to put a cleanup to be executed in the startup in order to remove that files?

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You can read about Run Levels here.

You should be able to delete these files before the services try running by adding a symlink to a cleanup script (essentially an rm command) in rc1.d.

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