elfin_run

This Document is a bash execution Guide for the driver of Elfin Arm in UP Squared 6000.

• Files in the folder "logs" are the log of "bash" execution.

Download from github

• Using git clone:

    git clone https://github.com/xinwenir/elfin_run.git /home/<Your_Name>
  

• Stored in the device power-on boot command:

    cd <YOUR PATH OF ELFIN_RUN>
    ./elfin_run.sh
  

• or

    /home/<Your_Name>/elfin_run/elfin_run.sh
  

elfin_run

• #! is a convention token that tells the system what interpreter is needed for this script to execute, i.e. which Shell to use.

• Note: in this case, we use "bash".

• nohup Closing the current session will not interrupt the program and can be terminated by commands such as kill.

• example:

    nohup command > output.log 2>&1 &
  

• where 2>&1 is used to redirect standard error 2 to standard output 1. The & before 1 is to allow bash to interpret 1 as standard output instead of file 1. And the last & is to allow bash to execute in the background.

• NOTE: IF YOUR ROS VERSION IS melodic, YOU SHOULD CHENGE noetic TO melodic!!

• Modify elfin_run.sh so that it works for your device:

    #! /bin/bash
    nohup /home/<Your_Name>/elfin_run/elfin_t1.sh > /home/<Your_Name>/elfin_run/logs/elfin_t1.log 2>&1 &
    sleep 10s
    nohup /home/<Your_Name>/elfin_run/elfin_t2.1.sh > /home/<Your_Name>/elfin_run/logs/elfin_t2.log 2>&1 & 
    sleep 20s
    nohup /home/<Your_Name>/elfin_run/elfin_t3.sh > /home/<Your_Name>/elfin_run/logs/elfin_t3.log 2>&1 &
    sleep 30s
    nohup /home/<Your_Name>/elfin_run/elfin_t4.sh > /home/<Your_Name>/elfin_run/logs/elfin_t4.log 2>&1 &
  

• Modify elfin_t1.sh so that it works for your device:

    #! /bin/bash
    source /home/<Your_Name>/catkin_ws/devel/setup.bash
    cd /home/<Your_Name>/catkin_ws && roslaunch elfin_robot_bringup elfin5_bringup.launch
  

• Modify elfin_t2.1.sh so that it works for your device:

    #! /bin/bash
    sudo chrt 10 /home/<Your_Name>/elfin_run/elfin_t2.sh
  

• Modify elfin_t2.sh so that it works for your device:

    #! /bin/bash   
    source /opt/ros/noetic/setup.bash
    source /home/<Your_Name>/catkin_ws/devel/setup.bash
    cd /home/<Your_Name>/catkin_ws && roslaunch elfin_robot_bringup elfin_ros_control.launch
  

• Modify elfin_3.sh so that it works for your device:

    #! /bin/bash
    source /home/<Your_Name>/catkin_ws/devel/setup.bash
    cd /home/<Your_Name>/catkin_ws && roslaunch elfin5_moveit_config moveit_planning_execution.launch
  

• Modify elfin_t4.sh so that it works for your device:

    #! /bin/bash
    source /home/<Your_Name>/catkin_ws/devel/setup.bash
    cd /home/<Your_Name>/catkin_ws && roslaunch elfin_basic_api elfin_basic_api.launch
  

ExecStart.md

How to configure elfin_run.sh to boot from boot in Ubuntu 20.04.

ExecStart1.md

How to configure elfin_run.sh to boot from boot in Ubuntu 18.04， which can be also used in Ubuntu 20.04.