The scripts and config files necessary to create a systemd daemon that automatically starts the SCUTTLE specific ROS nodes on a physical SCUTTLE robot. This means that your SCUTTLE will be ready to receive your commands as soon as it has connected to the local Wifi.
The configurations in this repository assume you have the following prerequisites installed on the device on which you want to run this code. That device might be an Ubuntu machine or a physical SCUTTLE using Raspberry Pi OS.
- ROS Noetic.
- A working ROS workspace.
- The scuttle_bringup package installed in your workspace.
First you need to clone the scuttle_ros_service repository to your workspace directory on the SCUTTLE robot.
cd <WORKSPACE_DIRECTORY_PATH>/src
git clone -b noetic https://github.com/scuttlerobot/scuttle_ros_service.git
where WORKSPACE_DIRECTORY_PATH is the ROS workspace you have
created. Note that the script and the systemd configuration file assume that you have cloned the
scuttle_ros_service repository in the /home/pi/scuttle_ws/src/scuttle_ros_service directory. If
you have created a different directory then you will need to update the following files to point
to the correct location.
If the script files point to the correct location, then you can run the
scripts/setup_ros_daemon.sh
script which will configure a systemd service that will start ROS.
Note: The systemd/ros.service
assumes that there is a user with the username pi on the system. If you want to run your ROS nodes
as a different user then you'll need to change the username in the ros.service file.
Once you have installed ROS as a service you can restart the Raspberry Pi
sudo shutdown -r -now
Once the Pi completes the restart it should connect to the network and start the ROS stack. If you have the joystick connected then you should now be able to drive your SCUTTLE around with the Joystick.