Clover

Software autorun

TIP

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

systemd

Main documentation: https://wiki.archlinux.org/title/Systemdopen in new window.

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/roslaunchopen in new window.

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, a shebang should be placed at the beginning of the file, for example:

#!/usr/bin/env python3