shc_raspi4_run_at_launch.md

6. OPTIONAL: Setting Up OpenSHC to Run at Launch

Previous: Configuring The Wireless Access Point

This step is optional. The instructions below outline enabling the robot to launch OpenSHC and prepare to walk on startup rather than requiring manual activation and are adapted from this article

6.1 Create a folder in which to store your launch script, then create a launch script and make it executable

mkdir ~/launch_script
cd ~/launch_script
touch robot_launch.sh
chmod +x robot_launch.sh

6.2 Open the robot_launch file with a text editor of your choice and insert the following. Replace bracketed parameters with the value relevant to your system.

#!/bin/bash
source /opt/ros/[ROS VERSION]/setup.bash
source /home/[USERNAME]/openshc_ws/devel/setup.bash
roslaunch [ROS PACKAGE NAME] [LAUNCH FILE NAME].launch

6.3 Next you will need to create a systemd service file to run the bash script

cd /lib/systemd/system
sudo nano robot_launch.service

Then add the following into that file, replacing [USERNAME] with your username

[Unit]
Description=startup

[Service]
Type=forking
ExecStart=/home/[USERNAME]/launch_script/robot_launch.sh
Restart=on-failure

[Install]
WantedBy=multi-user.target

6.4 Run the following commands to reload and enable the service

sudo systemtcl daemon-relaod
sudo systemctl enable robot_launch.service

6.5 Reboot the robot and check that the script activated by typing

rostopic list

into the terminal. If the list is not empty the script should run as expected when it receives controller input.

Next: Launching OpenSHC