Command line interface

The Raspberry Pi OS, Raspbian, uses CLI as its primary user interface (which is common for Linux-based operating systems). You can use a secure shell connection to access the command line.

Basic commands

Double-tapping the Tab ↹ key autocompletes the command or its argument. This is known as "tab completion".

Show the contents of the current directory:

ls

Change current (working) directory:

cd catkin_ws/src/clover/clover/launch

Go one directory level up:

cd ..

Print path to the current directory:

pwd

Go to the user's home directory:

# all three commands are equivalent, where the tilde character (~) is an abbreviated
# path entry to the home directory, and the $HOME variable stores this path
cd
cd ~
cd $HOME

Print contents of the file.py file:

cat file.py

Run file.py as a Python script:

python3 file.py

Reboot Raspberry Pi:

sudo reboot

You can terminate currently running (foreground) program by pressing Ctrl+C.

Read more about the Linux command line in the Raspberry Pi documentation: https://www.raspberrypi.org/documentation/linux/usage/commands.md.

Editing files

You can use nano to edit files on the Raspberry Pi. It is one of the more user-friendly console-based text editor.

1. Use the following command to edit or create a file:

   nano path/to/file
   

   For example:

   nano ~/catkin_ws/src/clover/clover/launch/clover.launch
   

   

2. Edit the file.
3. Press Ctrl+X, Y, Enter to save your file and exit.

4. Restart the clover service if you've changed .launch files:

   sudo systemctl restart clover
   

You may also use other editors like vim if you prefer.

Resetting changes

For resetting all the changes in Clover package related files (launch-files), use git:

cd ~/catkin_ws/src/clover
git checkout .
sudo systemctl restart clover