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Rework assigning hostname and service files (#150)

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* Rework assigning hostname and service files

* docs: small fix in hostname article

* Correct path to setup.bash in clever.service

* docs: correct ip in hostname article

* init_rpi: put normal and .local hostname on one line in hosts

* docs: add English version of hostname article

* clever.service: use sh instead of bash

* docs: Spellcheck english version, add note about hostname vs SSID

* clever.service: return roscore requirement back
This commit is contained in:
Oleg Kalachev
2019-08-04 00:40:27 +03:00
committed by GitHub
parent 05af14a792
commit 1538ec33f7
10 changed files with 73 additions and 53 deletions
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6
builder/assets/clever.service
View File

@@ -1,12 +1,12 @@
[Unit]
Description=Clever ROS package
Requires=roscore.service
After=roscore.service
After=network.target
[Service]
User=pi
EnvironmentFile=/lib/systemd/system/roscore.env
ExecStart=/opt/ros/kinetic/bin/roslaunch clever clever.launch --wait --screen
ExecStart=/bin/sh -c ". /home/pi/catkin_ws/devel/setup.sh; \
ROS_HOSTNAME=`hostname`.local exec roslaunch clever clever.launch --wait --screen --skip-log-check"
Restart=on-failure
RestartSec=3

35
builder/assets/clever_rename
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@@ -1,35 +0,0 @@
#!/usr/bin/env bash
# Set Clever hostname to the specified value
set -e
NEW_NAME_OPT=$1
if [[ -z ${NEW_NAME_OPT} ]]; then
echo "Please specify new name for this Clever"
exit 1
fi
NEW_NAME=$(echo ${NEW_NAME_OPT} | tr '[:upper:]' '[:lower:]')
echo "Setting name to ${NEW_NAME}"
echo "Backing up /etc/hostname"
cp /etc/hostname /etc/hostname.bak
echo "Writing new /etc/hostname"
echo ${NEW_NAME} > /etc/hostname
echo "Backing up /etc/hosts"
cp /etc/hosts /etc/hosts.bak
echo "Rewriting /etc/hosts with new values"
sed -i 's/127\.0\.1\.1.*/127.0.1.1\t'${NEW_NAME}'/g' /etc/hosts
echo "Changing hostname in /lib/systemd/system/roscore.env"
sed -i 's/ROS_HOSTNAME=.*/ROS_HOSTNAME='${NEW_NAME}'.local/g' /lib/systemd/system/roscore.env
echo "Changing hostname in .bashrc"
sed -i 's/export ROS_HOSTNAME=.*/export ROS_HOSTNAME='${NEW_NAME}'.local/g' /home/pi/.bashrc
echo "Done, reboot your Clever to see the results"

6
builder/assets/init_rpi.sh
View File

@@ -38,7 +38,11 @@ echo_stamp() {
echo_stamp "Rename SSID"
NEW_SSID='CLEVER-'$(head -c 100 /dev/urandom | xxd -ps -c 100 | sed -e "s/[^0-9]//g" | cut -c 1-4)
sudo sed -i.OLD "s/CLEVER/${NEW_SSID}/" /etc/wpa_supplicant/wpa_supplicant.conf
clever_rename ${NEW_SSID}
echo_stamp "Rename hostname to $NEW_SSID"
hostnamectl set-hostname $NEW_SSID
sed -i 's/127\.0\.1\.1.*/127.0.1.1\t'${NEW_SSID}' '${NEW_SSID}'.local/g' /etc/hosts
# .local (mdns) hostname added to make it accesable when wlan and ethernet interfaces down
echo_stamp "Harware setup"
/root/hardware_setup.sh

10
builder/assets/roscore.env
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@@ -1,10 +0,0 @@
ROS_ROOT=/opt/ros/kinetic/share/ros
ROS_DISTRO=kinetic
ROS_PACKAGE_PATH=/home/pi/catkin_ws/src:/opt/ros/kinetic/share
ROS_PORT=11311
ROS_MASTER_URI=http://localhost:11311
CMAKE_PREFIX_PATH=/home/pi/catkin_ws/devel:/opt/ros/kinetic
PATH=/opt/ros/kinetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin
LD_LIBRARY_PATH=/opt/ros/kinetic/lib
PYTHONPATH=/home/pi/catkin_ws/devel/lib/python2.7/dist-packages:/opt/ros/kinetic/lib/python2.7/dist-packages
ROS_HOSTNAME=raspberrypi.local

3
builder/assets/roscore.service
View File

@@ -4,8 +4,7 @@ After=network.target
[Service]
User=pi
EnvironmentFile=/lib/systemd/system/roscore.env
ExecStart=/opt/ros/kinetic/bin/roscore
ExecStart=/bin/sh -c ". /opt/ros/kinetic/setup.sh; ROS_HOSTNAME=`hostname`.local exec roscore"
Restart=on-failure
RestartSec=3

2
builder/image-build.sh
View File

@@ -109,7 +109,6 @@ ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-network.
[[ $(arch) == 'armv7l' ]] && NUMBER_THREADS=1 || NUMBER_THREADS=$(nproc --all)
# Clever
${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/clever.service' '/lib/systemd/system/'
${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/roscore.env' '/lib/systemd/system/'
${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/roscore.service' '/lib/systemd/system/'
${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/kinetic-rosdep-clever.yaml' '/etc/ros/rosdep/'
${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/ros_python_paths' '/etc/sudoers.d/'
@@ -118,7 +117,6 @@ ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/pigpiod
# Add PX4 udev rules
${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${REPO_DIR}'/clever/config/99-px4fmu.rules' '/lib/udev/rules.d/'
# Add rename script
${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/clever_rename' '/usr/local/bin/clever_rename'
${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-ros.sh' ${REPO_URL} ${IMAGE_VERSION} false false ${NUMBER_THREADS}
${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-validate.sh'