Skip to main content

Auto Start

Auto Start Script​

  • When the robot is powered on, the system interface will automatically run the auto-start script /home/lemon/start.sh.

Operations in the Script​

  • Announce the boot-up voice message.

  • Announce the name of the connected Wi-Fi and the assigned IP address.

  • Check if the servo communication is normal.

  • Start a series of functional nodes, such as the voice node, camera node, etc.

Check the Status of start.sh​

  • Terminate start.sh

    • sudo killall roslaunch

  • Check the launched nodes

    lemon@lemon-NUC8i3BEH:~/robot_ros_application$ rosnode list 
    /BodyHubNode                            # Motion control node
    /SensorHubNode                          # Sensor node
    /camera/realsense2_camera               # Depth camera node
    /camera/realsense2_camera_manager       # Depth camera node
    /chin_camera                            # Chin camera node
    /head_toward_sound                      # Sound source localization node
    /ik_module_node                         # IK inverse solution node
    /joystick_handle_node                   # Virtual joystick control node
    /keyboards_node                         # Back button node
    /mqtt_node                              # MQTT communication node
    /ros_aiui_node                          # AIUI voice node
    /ros_broadcast_node                     # Socket broadcast node
    /ros_color_node
    /ros_face_node
    /ros_fruit_node
    /ros_gesture_node
    /ros_label_node
    /ros_mic_arrays                         # Microphone node
    /ros_msg_node
    /ros_socket_node                        # Socket communication node
    /ros_speech_node
    /rosout
    /slam_mapping_node                      # SLAM status control node
    /vision_node                            # Vision development node
    /web_video_server                       # Web video stream node

  • Restart or Start start.sh

    • First, determine whether a restart is needed. This can be done by checking the launched nodes to see if most of them have started normally.

    • If most nodes have started normally and a restart of start.sh is required, you need to terminate start.sh first. Otherwise, nodes with the same name in ROS will conflict, causing start.sh to restart abnormally.

    • Ensure that there are no nodes or only /rosout in the launched nodes, then you can start start.sh with the following command:

      $ cd ~/ && ./start.sh

    • After starting, you should promptly check if there are any errors in the start.sh terminal or if the launched nodes are functioning normally.