This is the ROS node for the client-side application of Canopy.
- ROS Indigo (http://wiki.ros.org/indigo/Installation/Ubuntu)
- Python 2.7
- pip
cd <YOUR CATKIN WORKSPACE>/src
git clone https://github.com/baalexander/rospy_message_converter
git clone https://github.com/canopy-ros/canopy_client
cd canopy_client
. ./canopy_client_install.sh
This section describes the client-side instructions for synchronizing the clocks of your Canopy clients and the Canopy server using chrony.
Modify the chrony configuration file /etc/chrony/chrony_canopy_client.conf to reflect your Canopy server's IP address:
# /etc/chrony/chrony_canopy_client.conf
server 128.31.37.168 iburst
...
Disable and stop the default chrony service (it's fine if it gives a warning after the disable step):
sudo systemctl stop chrony
sudo systemctl disable chrony
Enable and start the Canopy chrony service:
sudo systemctl enable chrony_canopy_client
sudo systemctl start chrony_canopy_client
To check whether the service is running correctly, run systemctl status chrony_canopy_client which should show an active running status:
chrony_canopy_client.service - chrony service for canopy client
Loaded: loaded (/lib/systemd/system/chrony_canopy_client.service; static; vendor preset: enabled)
Active: active (running)
...
To check whether the chrony daemon chronyd is working correctly, first setup chrony on the Canopy server and ensure that it is running correctly. Then run chronyc activity on the client which should return the following:
200 OK
1 sources online
0 sources offline
0 sources doing burst (return to online)
0 sources doing burst (return to offline)
0 sources with unknown address
If you see the message 506 Cannot talk to daemon, then chronyd is not running properly.
Finally run chronyc sources and you should see your Canopy server's IP address listed. If you are connecting the chrony client to the chrony server for the first time, it may take several minutes before the correct IP is listed under sources.