Limo Startup

Connect to the Limo

ssh agilex@<limo_IP>

Once in the Limo, you can start up the robot driver, lidar, and stereo camera with

roslaunch limo_bringup limo_start.launch

To be able to disconnect from the robot after starting the software and have it keep running, check out Screen

Once the robot is up and running, make sure to look at Networking to remotely monitor and control the robot

Automatic Startup

If you are always working with ROS and want the ROS software to start automatically, the robot_upstart package can handle that. First, install it in case it isn’t already

sudo apt install ros-melodic-robot-upstart

Then, make sure your workspace is sourced properly. Check out Sourcing Your Workspace under Factory Reset

To create the startup job, run the command below

rosrun robot_upstart install limo_bringup/launch/limo_start.launch
sudo systemctl daemon-reload && sudo systemctl start limo

Now, every time you turn on your Limo, the default ROS drivers will start.

If you don’t want the ROS to startup automatically anymore, run the command below

sudo systemctl disable limo