ROS Upstart package

ROS Package - robot-upstart

1. Install robot-upstart package

export ROS_VER=melodic

sudo apt-get install ros-$ROS_VER-robot-upstart

 

2. Choose roslaunch file to upstart

Test it working.

roslaunch <PACKAGE_NAME> <LAUNCH_FILE>.launch

 

3. Install roslaunch file from script

rosrun robot_upstart install <PACKAGE_NAME>/launch/<LAUNCHFILE>.launch --job <JOB_NAME> --symlink

then, just run below line

sudo systemctl daemon-reload

 

4. Start robot-upstart service

sudo systemctl start <JOB_NAME>.service

 

5. Stop robot-upstart service

sudo systemctl stop <JOB_NAME>.service

 

6. Uninstall service

sudo systemctl disable <JOB_NAME>.service

rosrun robot_upstart uninstall <JOB_NAME>

 

Hardward Permission Problem

1. Give hardware permissions with udev rules

sudo nano /etc/udev/rules.d/local.rules

 

Add below lines

ACTION=="add", KERNEL=="dialout", MODE="0666"

ACTION=="add", KERNEL=="ttyTHS[0-9]*", MODE="0666"

ACTION=="add", KERNEL=="ttyUSB[0-9]*", MODE="0666"

 

2. Jetson Nano UART port's Permission Problem [2]

 

systemctl stop nvgetty
systemctl disable nvgetty
udevadm trigger (or reboot)

 

 

Ref

1.  Make a ROS Launch Start on Boot (robot_upstart), roboticsbackend.com/make-ros-launch-start-on-boot-with-robot_upstart/

2. forums.developer.nvidia.com/t/read-write-permission-ttyths1/81623/3