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#!/usr/bin/env python

import robot_upstart
import os

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j = robot_upstart.Job(name="ros", interface=os.environ.get('ROBOT_NETWORK'), workspace_setup=os.environ.get('ROBOT_SETUP'))
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# Stuff to launch on system startup.
j.add(package="husky_base", glob="launch/*")

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if os.path.exists('/dev/clearpath/imu') or os.path.exists('/dev/clearpath/um6'):
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  j.add(package="husky_bringup", glob="launch/um6_config/*")

if os.path.exists('/dev/clearpath/um7'):
  j.add(package="husky_bringup", glob="launch/um7_config/*")

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if os.path.exists('/dev/microstrain_gx3'):
  j.add(package="husky_bringup", glob="launch/microstrain_gx3_config/*")

if os.path.exists('/dev/microstrain_gx5'):
  j.add(package="husky_bringup", glob="launch/microstrain_gx5_config/*")
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if os.path.exists('/dev/clearpath/gps'):
  j.add(package="husky_bringup", glob="launch/navsat_config/*")

if os.environ.get('HUSKY_LMS1XX_IP'):
  j.add(package="husky_bringup", glob="launch/lms1xx_config/*")

j.install()