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60 lines
1.6 KiB
Markdown
60 lines
1.6 KiB
Markdown
Software autorun
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===
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systemd
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---
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Main documentation: [https://wiki.archlinux.org/index.php/Systemd_(Russian)](https://wiki.archlinux.org/index.php/Systemd_(Russian)).
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All automatically started Clever software is launched as a `clever.service` systemd service.
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The service may be restarted by the `systemctl` command:
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```(bash)
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sudo systemctl restart clever
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```
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Text output of the software can be viewed using the `journalctl` command:
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```(bash)
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journalctl -u clever
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```
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To run Clever software directly in the current console session, you can use the `roslaunch` command:
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```(bash)
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sudo systemctl restart clever
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roslaunch clever clever.launch
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```
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You can disable Clever software autolaunch using the `disable` command:
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```(bash)
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sudo systemctl disable clever
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```
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roslaunch
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---
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Main documentation: http://wiki.ros.org/roslaunch.
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The list of nodes / programs declared for running is specified in file `/home/pi/catkin_ws/src/clever/clever/launch/clever.launch`.
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You can add your own node to the list of automatically launched ones. To do this, place your executable file (e.g. `my_program.py`) into folder `/home/pi/catkin_ws/src/clever/clever/src`. Then add the start of your node to `clever.launch`, for example:
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```xml
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<node name="my_program" pkg="clever" type="my_program.py" output="screen"/>
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```
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The started file must have *permission* to run:
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```(bash)
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chmod +x my_program.py
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```
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When scripting languages are used, [shebang] should be placed at the beginning of the file (https://ru.wikipedia.org/wiki/Shebang_(Unix)), for example:
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```(bash)
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#!/usr/bin/env python
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```
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