Then use the Ubuntu-packaged runit or daemontools; or port s6, perp, daemontools-encore, or nosh.
* https://news.ycombinator.com/item?id=11416376
* http://jdebp.eu./FGA/daemontools-family.html
I don't know whether the Debian-packaged nosh will install on Ubuntu as it stands.
* http://jdebp.eu./Softwares/nosh/debian-binary-packages.html
I don't like logging into my dev box and then manually starting one-off scripts for all of the services that I like running (docker, dnsmasq, apt-cache, foo.py, etc etc).