Inmediate inicialization of ROS when turning on the robot.

asked 2012-09-13 08:22:25 -0500

Oscar_Panczenko
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updated 2014-04-20 14:09:29 -0500

ngrennan
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Hello community,

I want to build a Quadrotor robot with an IntensePC on it so I it can be programmed with ROS in order to perform autonomous navigation etc. The thing is that I want that robot to initialize inmediatly without starting ubuntu etc. like when you turn on a cellphone or an old fashined nintendo console, you push the ON button and in a few seconds it is up and running the main program.

Is it possible to do this with ROS?

and if yes. How can I do it?

Thank you all!!

Oscar Rodrigo Hernández Panczenko

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answered 2012-09-13 14:30:56 -0500

Thomas

4478 ●39 ●58 ●84 http://thomas.moulard.net/

I designed the package ros_comm_upstart specifically for this goal. It wraps roscore as a service that can be launched at startup.

It is available as a Debian package for ROS Electric. It would not be difficult to adapt this work for Fuerte.

It is also possible to adapt this work to make it launch a ROS launch file at start-up.

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answered 2012-09-13 10:52:03 -0500

ahendrix

47576 ●179 ●367 ●662 http://namniart.com/

Yes.

"Without starting Ubuntu" is vague. I'll assume that you mean "without starting a graphical interface or logging in"

This is quite possible and relatively easy; you'll want to make a single launch file that brings up all of the ROS nodes for your robot, and create an upstart script that runs that launch file. This is how the Turtlebot is configured.