Merge remote-tracking branch 'origin/master'

Drone/client_setup.sh

@@ -1,27 +1,31 @@
 #!/bin/bash
 
 # $1 - ssid, $2 - password of wifi router
-# $3 - hostname of rpi 
+# $3 - hostname of rpi
+# $4 - server ip 
 
 # check if enough arguments
-if [[ $# -ne 3 ]] ; then
-    echo -e "\nPlease, enter arguments: ssid, password of wifi and hostname."
-    echo -e "\nExample: sudo $0 clever-swarm swarmwifi clever-1\n"
+if [[ $# -ne 4 ]] ; then
+    echo -e "\nPlease, enter arguments: router ssid, wifi password, copter id and server ip"
+    echo -e "\nExample: sudo $0 clever-swarm swarmwifi clever-1 192.168.1.100"
+    echo -e "\nWarning: this script requires wifi router to be connected to internet!\n"
     exit 0
 fi
 
-# stop and disable dnsmasq service
+# stop and disable dnsmasq service (to set wifi in client mode)
 systemctl stop dnsmasq
 systemctl disable dnsmasq
 
-# enable get auto ip
+# enable getting auto ip
 sed -i 's/interface wlan0//' /etc/dhcpcd.conf
 sed -i 's/static ip_address=192.168.11.1\/24//' /etc/dhcpcd.conf
 
 # make backup of wpa_supplicant.conf
-cp /etc/wpa_supplicant/wpa_supplicant.conf /etc/wpa_supplicant/wpa_supplicant.conf.OLD
+if ! [ -f "/etc/wpa_supplicant/wpa_supplicant.conf.OLD" ] ; then
+    cp /etc/wpa_supplicant/wpa_supplicant.conf /etc/wpa_supplicant/wpa_supplicant.conf.OLD
+fi
 
-# ssid and password of the router
+# set ssid and password of the router
 cat << EOF | tee /etc/wpa_supplicant/wpa_supplicant.conf
 ctrl_interface=DIR=/var/run/wpa_supplicant GROUP=netdev
 update_config=1
@@ -33,6 +37,9 @@ network={
 }
 EOF
 
+# restart dhcpcd to connect to wifi as a client
+systemctl restart dhcpcd
+
 # set hostname for linux
 cat << EOF | tee /etc/hostname
 $3
@@ -43,16 +50,54 @@ sed -i "/127.0.1.1/c 127.0.1.1       $3" /etc/hosts
 sed -i "/ROS_HOSTNAME/c ROS_HOSTNAME=\'$3\'" /home/pi/.bashrc
 sed -i "/ROS_HOSTNAME/c ROS_HOSTNAME=$3" /lib/systemd/system/roscore.env
 
-# set sudoers variables to make sudo works with ros: TODO
+# add sudoers variables to make sudo works with ros (for led strip)
+grep -qxF 'Defaults        env_keep += "ROS_LOG_DIR"' /etc/sudoers || cat << EOT >> /etc/sudoers
 
-# copy aruco.launch and clever.launch: TODO???
+Defaults        env_keep += "PYTHONPATH"
+Defaults        env_keep += "PATH"
+Defaults        env_keep += "ROS_ROOT"
+Defaults        env_keep += "ROS_MASTER_URI"
+Defaults        env_keep += "ROS_PACKAGE_PATH"
+Defaults        env_keep += "ROS_LOCATIONS"
+Defaults        env_keep += "ROS_HOME"
+Defaults        env_keep += "ROS_LOG_DIR"
+EOT
 
-# install samba and winbind
+# configure aruco.launch and clever.launch (for positioning with aruco map)
+sed -i '/<arg name="aruco_map"/c \    <arg name="aruco_map" default="true"/>' /home/pi/catkin_ws/src/clever/clever/launch/aruco.launch
+sed -i '/<arg name="aruco_vpe"/c \    <arg name="aruco_vpe" default="true"/>' /home/pi/catkin_ws/src/clever/clever/launch/aruco.launch
+sed -i '/<param name="map"/c \        <param name="map" value="\$\(find aruco_pose\)/map/animation_map.txt"/>' /home/pi/catkin_ws/src/clever/clever/launch/aruco.launch
+sed -i '/<arg name="aruco"/c \    <arg name="aruco" default="true"/>' /home/pi/catkin_ws/src/clever/clever/launch/clever.launch
+
+# copy office map to animation map if there is no animation map file
+if ! [ -f "/home/pi/catkin_ws/src/clever/aruco_pose/map/animation_map.txt" ] ; then
+    sudo -u pi cp /home/pi/catkin_ws/src/clever/aruco_pose/map/office.txt /home/pi/catkin_ws/src/clever/aruco_pose/map/animation_map.txt
+fi
+
+# install samba and winbind (for hostname resolving)
 apt-get -y install samba
 apt-get -y install winbind
 
 # set /etc/nsswitch.conf
 sed -i '/hosts:/c hosts:         files dns wins' /etc/nsswitch.conf
 
+# install chrony (for time syncing)
+apt-get -y install chrony
+
+# configure chrony as client
+cat << EOF | tee /etc/chrony/chrony.conf
+server $4 iburst
+driftfile /var/lib/chrony/drift
+makestep 1.0 3
+rtcsync
+EOF
+
+# change server ip in client_config
+sed -i "0,/^host/s/\(^h.*\)/host = $4/" client_config.ini
+
+# set roscore service to restart on-failure
+sed -i '/Restart=/c Restart=on-failure\
+RestartSec=3' /lib/systemd/system/roscore.service
+
 # restart clever
 reboot