Best way to start up everything on boot?

Navio / Edge Getting started
1

Hello,

I got everything working fine on this instruction https://docs.emlid.com/navio2/common/dev/ros/
I can connect from GCS and communicate with Ardupilot.

What is the best way to make all these commands automatically run on boot one after another?

Thanks for help!

3

Hello.

You can try to use ROS Upstart. For install:

sudo apt-get install ros-indigo-robot-upstart

4

Robot_upstart allows you to quickly and easily generate background jobs to run roslaunch invocations on system startup, but you can also use roslaunch without robot_upstart. You need to modify fcu_url and gcs_url in /opt/ros/kinetic/share/mavros/launch/apm.launch and run roslaunch mavros apm.launch. Roslaunch will automatically start a roscore if there isn’t already one running and you’ll get your Navio connected to GCS.

To run this on boot you can create a simple systemd service. Create mavros.service file in /lib/systemd/system with the following contents:

[Unit]
Description=mavros 

[Service]
Type=forking
ExecStart=/bin/bash -c "source /opt/ros/kinetic/setup.bash; /usr/bin/python /opt/ros/kinetic/bin/roslaunch mavros apm.launch"
Restart=on-failure

[Install]
WantedBy=multi-user.target

Then run:
sudo systemctl daemon-reload
And enable it on boot:
sudo systemctl enable mavros.service

5

Thank you guys, that was helpful! )
I think this info should be in your docs

1 Like
6

Already added there. Thanks for pointing it out!