Added auto startup and poweroff scripts.

software/environment/rover/auto_poweroff/auto_poweroff.py

@@ -4,8 +4,9 @@
 #####################################
 # Python native imports
 from time import time, sleep
-from os.path import exists
-from os import system
+from os.path import exists, dirname, realpath
+from os import system, chdir
+import sys
 
 #####################################
 # Global Variables
@@ -15,12 +16,22 @@ UDEV_RULES_PATHS = ["../UDEV_rules/99-rover-usb-serial.rules", "../UDEV_rules/99
 SHUTDOWN_TIMEOUT = 5
 
 
+#####################################
+# get_script_path Definition
+#####################################
+def get_script_path():
+    return dirname(realpath(sys.argv[0]))
+
+
 #####################################
 # udev_parser Definition
 #####################################
 def udev_parser(rules_paths):
     device_paths = {}
 
+    script_path = get_script_path()
+    chdir(script_path)
+
     for current_file in rules_paths:
         lines = open(current_file).readlines()
 

software/environment/rover/startup/screenrc

@@ -0,0 +1,86 @@
+# the following two lines give a two-line status, with the current window highlighted
+hardstatus alwayslastline
+hardstatus string '%{= kG}[%{G}%H%? %1`%?%{g}][%= %{= kw}%-w%{+b yk} %n*%t%?(%u)%? %{-}%+w %=%{g}][%{B}%m/%d %{W}%C%A%{g}]'
+
+# huge scrollback buffer
+defscrollback 5000
+
+# no welcome message
+startup_message off
+
+# 256 colors
+attrcolor b ".I"
+termcapinfo xterm 'Co#256:AB=\E[48;5;%dm:AF=\E[38;5;%dm'
+defbce on
+
+# mouse tracking allows to switch region focus by clicking
+mousetrack on
+
+# default windows
+screen -t RoverMain  1 bash -c "/home/nvidia/Github/Rover_2017_2018/software/environment/rover/startup/startup.sh"
+screen -t Shell  2 bash
+select 1
+bind c screen 1 # window numbering starts at 1 not 0
+bind 0 select 10
+
+# get rid of silly xoff stuff
+bind s split
+
+# layouts
+layout autosave on
+layout new one
+select 1
+layout new two
+select 1
+split
+resize -v +8
+focus down
+select 4
+focus up
+layout new three
+select 1
+split
+resize -v +7
+focus down
+select 3
+split -v
+resize -h +10
+focus right
+select 4
+focus up
+
+layout attach one
+layout select one
+
+# navigating regions with Ctrl-arrows
+bindkey "^[[1;5D" focus left
+bindkey "^[[1;5C" focus right
+bindkey "^[[1;5A" focus up
+bindkey "^[[1;5B" focus down
+
+# switch windows with F3 (prev) and F4 (next)
+bindkey "^[OR" prev
+bindkey "^[OS" next
+
+# switch layouts with Ctrl+F3 (prev layout) and Ctrl+F4 (next)
+bindkey "^[O1;5R" layout prev
+bindkey "^[O1;5S" layout next
+
+# F2 puts Screen into resize mode. Resize regions using hjkl keys.
+bindkey "^[OQ" eval "command -c rsz" # enter resize mode
+
+# use hjkl keys to resize regions
+bind -c rsz h eval "resize -h -5" "command -c rsz"
+bind -c rsz j eval "resize -v -5" "command -c rsz"
+bind -c rsz k eval "resize -v +5" "command -c rsz"
+bind -c rsz l eval "resize -h +5" "command -c rsz"
+
+# quickly switch between regions using tab and arrows
+bind -c rsz \t    eval "focus"       "command -c rsz" # Tab
+bind -c rsz -k kl eval "focus left"  "command -c rsz" # Left
+bind -c rsz -k kr eval "focus right" "command -c rsz" # Right
+bind -c rsz -k ku eval "focus up"    "command -c rsz" # Up
+bind -c rsz -k kd eval "focus down"  "command -c rsz" # Down
+
+# Clean up screen display with files
+altscreen on

software/environment/rover/startup/startup.sh

@@ -0,0 +1,6 @@
+#!/bin/bash
+source /opt/ros/kinetic/setup.bash
+source /home/nvidia/catkin_workspace/devel/setup.bash
+/home/nvidia/Github/Rover_2017_2018/software/environment/rover/auto_poweroff/auto_poweroff.py &
+roslaunch rover_main rover.launch
+exec bash