Creating a Startup file

Creating a Startup file for Real Time Collection

Under special circumstances, software may need to be launched outside of ROS, so a .sh template is provided for running the nodes required to gather the data instead of a launch file.

Required Nodes
Roscore must be launched either via roslaunch or manually. The example starts roscore manually.
Rosbag must be set to record, preferably excluding duplicate video streams
The telemetry node must be launched if available
The video node must be launched if available
The fkie zeroconf discovery node Discovery node for centralized logging

AirRobot sample launch script

#!/bin/sh
#if you didn't source the setup.sh already (change the username)
. "/home/crasar/catkin_ws/devel/setup.sh"

roscore &
ROSCOREPID=$!

#capture the airRobot video
rosrun airRobot_logger video &
AIRROBOTVIDEOPID=$!

#view the image stream
rosrun image_view image_view image:=/camera/airrobot &
IMAGEVIEWPID=$!

#start the telemetry capture
rosrun airRobot_logger telemetry.py &
AIRROBOTTELEMETRYPID=$!

#start the fkie discovery
rosrun master_discovery_fkie zeroconf &

#record all airrobot topics, excluding compressed video streams.
/opt/ros/fuerte/bin/rosbag record -e "(.*)airrobot(.*)" -x "(.*)compressed(.*)|(.*)theora(.*)"

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