If you want to control the process with commands like start, stop, restart etc using the skeltonskeleton script and altering it for your purposes might be the best option.
If you just want the process to start and that's it, you might consider just puttingput the command, as you wrote it in your question, into the /etc/rc.local/etc/rc.local
. (I don't have my RPi at hand, but I read online that there is an 'exit 0' line in there, you should put your command above this line)