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clover_app

Clover demo application that can be used as a template.

Contents:

  • The main Python script (src/main.py).
  • The main launch file (launch/main.launch).
  • The systemd service file: (debian/service.em).
  • The web part served with roswww or roswww_static (www).

How to convert your app to a Debian package

Install prerequisites:

sudo apt-get install python3-bloom fakeroot debhelper dpkg-dev

Go to your package directory:

roscd clover_app

Generate Debian files:

bloom-generate rosdebian

Build Debian package:

fakeroot debian/rules binary

How to install the package

The built Debian packages are located one directory upper then your package directory:

cd ..

Install the package with dpkg. E. g.:

sudo dpkg -i ros-noetic-clover-app_0.0.0-0buster_armhf.deb

Checking installation

The systemd service file is installed as <package_name>.service, e. g. ros-noetic-clover-app.service. It will be started automatically. You can see the status using systemctl command, e. g.:

sudo systemctl status ros-noetic-clover-app

The demo script will publish to a topic /test:

rostopic echo /test

The web part should be available at http://<hostname>/<package_name>, e. g. http://192.168.11.1/clover_app.

Using as a template

Change all the clover_app occurrences to your app's name. Keeping clover_ prefix is recommended.

Publishing

Finished Debian package can be published at packages.coex.tech.