ASV System

Startup System

cd /home/icebergasv/asv-system/catkin_ws_V2 
rosrun startup_script_rosbag_pkg startup_rosbag.sh 

SSH Connection with Jetson TX2

The Jetson is not set up to be a server. Do not assume the Jetson is powered on and you can connect to it remotely. This procedure is meant to provide an option for working on the Jetson TX2.

1. Get IP address of Jetson TX2:

ifconfig

2. On remote device, ssh into Jetson TX2:

ssh icebergasv@<ip-address>

Then enter login password to the Jetson TX2

Example:

Passwordless SSH Connection

Follow this tutorial

Systemd Launch asv-system On Bootup

This section includes documentation of how we are launching our ROS project upon booting up the Jetson TX2.
We directly used the Running ROS Nodes on Boot tutorial of how to create the system services.

System Services Created:

roscore.service

[Unit]
Description=ROScore service
After=network-online.target

[Service]
Type=forking
User=icebergasv
ExecStart=/bin/sh -c ". /opt/ros/melodic/setup.sh; . /etc/ros/env.sh; roscore & while ! echo exit | nc localhost 11311 > /dev/null; do sleep 1; done"

[Install]
WantedBy=multi-user.target

asv_system_auto_launch.service

[Unit]
Requires=roscore.service
After=network-online.target roscore.service

[Service]
Type=simple
User=icebergasv
ExecStart=/usr/sbin/asv_system_auto_launch

[Install]
WantedBy=multi-user.target

Useful Commands

sudo systemctl enable roscore.service

sudo systemctl enable asv_system_auto_launch.service

sudo systemctl disable roscore.service

sudo systemctl disable asv_system_auto_launch.service