- farmangeParticipantNovember 12, 2019 at 5:11 pmPost count: 2
I am looking for the source code of both executables /usr/sbin/niryo_one_ros-start and /usr/sbin/niryo_one_ros-stop in order to understand the initialisation and startup process.
Indeed, I would like to add new features at startup so I want to fully understand how niryo one is launching ros stack.
ThankscducatezKeymasterNovember 13, 2019 at 1:59 pmPost count: 11
Those 2 scripts are 2 shell scripts (you can edit them) generated by a ROS package that just do the setup for starting ROS service at boot up.
You can find the ‘install’ script under “niryo_one_bringup/scripts/” in the niryo_one_ros folder, it just registers the global launch file (niryo_one_bringup/rpi_setup.launch) to be started at boot up for now.
To add something you got several options:
– You want to add a new ROS service at startup, add your service in the install script and execute it (http://docs.ros.org/jade/api/robot_upstart/html/)
– You want to add features that aren’t related to ROS, you can launch your script/binary at the end of niryo_one_ros-start script. (This script will be overwrite again if you execute the niryo_one_bringup/scripts/install so never execute )
Let me know if you need further explanation.
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