Software autorun

In the image version 0.20 clever package and service was renamed to clover. See previous version of the article for older images.

systemd

Main documentation: https://wiki.archlinux.org/index.php/Systemd_(Russian)).

All automatically started Clover software is launched as a clover.service systemd service.

The service may be restarted by the systemctl command:

sudo systemctl restart clover

Text output of the software can be viewed using the journalctl command:

journalctl -u clover

To run Clover software directly in the current console session, you can use the roslaunch command:

sudo systemctl restart clover
roslaunch clover clover.launch

You can disable Clover software autolaunch using the disable command:

sudo systemctl disable clover

roslaunch

Main documentation: http://wiki.ros.org/roslaunch.

The list of nodes / programs declared for running is specified in file /home/pi/catkin_ws/src/clover/clover/launch/clover.launch.

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/clover/clover/src. Then add the start of your node to clover.launch, for example:

<node name="my_program" pkg="clover" type="my_program.py" output="screen"/>

The started file must have permission to run:

chmod +x my_program.py

When scripting languages are used, [shebang] should be placed at the beginning of the file (https://ru.wikipedia.org/wiki/Shebang_(Unix)), for example:

#!/usr/bin/env python

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