关于开机自启动qbo服务的讨论

http://openqbo.org/forum/viewtopic.php?f=4&t=488

1. It appears that you have to launch QBO_Webi when you start/restart Q.bo's computer. Is there a way for Ubuntu to automatically run the “roslaunch qbo_webi qbo_webi.launch” command at start-up?

2. I am now able to start the QBO_Webi (localhost:7070) after I manually launch it, but the default sign-on user and passwords (qbobot; QboPass; admin) are not accepted. I should tell you that I have not received my Q.bo kit yet so I am running the webi without any of the Q.boards or devices connected. I can see the device timeouts in the Terminal launch of Qbo_Webi, but I don't know why that would cause problems with the sign-on.

Hello everyone

Let me resume all this for you. There is a ROS package called "qbo_launchers" that, as Valkyr said, manages the nodes which are executed upon launching the operating system. There are two main files in this package:

* qbo_start_service - this file is a initialization script executed by Ubuntu init daemon upon the boot of the operating system.
* qbo_startup.launch - this is a launch file that defines the ROS nodes which are executed at the startup. You can find it in the "launch" folder of the ROS package

So, upon bootings, this is what happens:
"Ubuntu init daemon" --calls-> "qbo_start_service" --executes--> "qbo_startup.launch"

So, basically, if you want to define which ROS nodes should be executed at startup,you only have to change the "qbo_startup.launch", Please don't change the "qbo_start_service", as it will always execute the "qbo_startup.launch".

However, you have to execute the following commands so that the Ubuntu init daemon calls the qbo_start_service at startup:

Code: Select all

sudo ln -s /opt/ros/electric/stacks/qbo_stack/qbo_launchers/qbo_start_service /etc/init.d/
sudo update-rc.d qbo_start_service defaults 99

You only have to execute these commands one time and in the following reboots, the qbo_start_service daemon will be called.

An important note: if you install the qboros-electric-qbo-launchers deb package (using Synaptic or sudo apt-get install), you can skip the previous commands, because the installation will execute those commands for you. So, be careful not to execute these commands if you already installed the qboros-electric-qbo-launchers deb package

8-bit, regarding the main topic, by default, the qbo_launchers will execute the following nodes upon booting:

qbo_arduqbo
qbo_listen
qbo_talk
qbo_webi
qbo_camera nodes (/stereo/uvc_camera_stereo and /stereo/stereo_proc)

Since the Q.bo are shipped with the qbo_launchers installed, they all will launch the qbo_webi upon startup. If you want to change which nodes are executed upon the booting of Q.bo (as Valkyr already did), just edit the qbo_startup.launch file.

Arturo