Software deployment¶

This pages presents the requirements of the set of tools that helps to easily configure, launch and run the robots on-board softwares.

General requirements¶

• The tools must be very easy to use
• The tools must be very easy to maintain and update
• The tools must allow to specify and configure the softwares that will be run
• In a second step, the tools will endow means to supervise the execution of scenarios

General principles¶

The following principles take very much after the "dala scripts" (see the git repo: git+ssh://softs.laas.fr/git/robots/dala-scripts.git ), the main file names in this suite are referred to hereafter.

1. A shell script: (see shell-script/start.sh)
• sets a series of environment variables required to launch the softwares (in particular, a LOGDIR)
• Interprets the "main configuration file" that specifies which softwares must be launched (a software can be a ROS node, a Genom3 module, some utilities -- e.g. display server, redirection of the GPS correction data to the proper device, ... what else ?)
• Properly launches each software -- and warn the user in case launch failed
• Redirects standard and error outputs of each software into dedicated files in LOGDIR

A companion shell-scripts terminates "in a clean manner" all the launched softwares

1. A python interpreter is launched, loading:
• For each launched module/node, a .py file that contains: * The set of parameters associated to the software (mainly initialisation parameters, but also functioning mode, ...) * A series of "generic" functions: init/start, run, log, stop-log (some doing nothing if they are not implemented in the software)

Some details¶

• It would be nice to execute the launch shell script with the main configuration file as an argument (so that one can manage a series of configuration files)