Merge conflicts

README.md

@@ -1,15 +1,55 @@
-# Canopy Cloud Robotics Framework
-This is the ROS node for the client-side application.
+# Canopy Client
+This is the ROS node for the client-side application of Canopy.
 
 ## Installation
 ```
 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
-pip install -r requirements.txt
+. ./canopy_client_install.sh
+```
+
+## Clock Synchronization
+This section describes the _client-side_ instructions for synchronizing the clocks of your Canopy clients and the Canopy server using `chrony`. 
+
+### Setting up 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
+...
+```
+Disable and stop the default chrony service:
+```
+sudo systemctl stop chrony
+sudo systemctl disable chrony
+```
 
-cd <YOUR CATKIN WORKSPACE>
-catkin_make
-. ./devel/setup.bash
+Enable and start the Canopy chrony service:
+```
+sudo systemctl enable chrony_canopy_client
+sudo systemctl start chrony_canopy_client
 ```
+
+### Checking chrony setup
+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](https://github.com/canopy-ros/canopy_server_startup/) 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. 

canopy_client_install.sh

@@ -0,0 +1,27 @@
+#!/bin/sh
+CANOPY_CLIENT_DIR=$(pwd)
+
+# trap errors
+function err_fn() {
+    echo 'ERROR - aborting script.'
+    cd $CANOPY_CLIENT_DIR
+    trap - ERR
+}
+trap "err_fn; return" ERR
+
+# install python packages
+pip install -r requirements.txt
+
+# setup chrony
+sudo apt-get update
+sudo apt-get install chrony
+sudo cp chrony_canopy_client.service /lib/systemd/system
+sudo cp chrony_canopy_client.conf /etc/chrony
+
+# make ros package
+cd ../..
+catkin_make
+. ./devel/setup.bash
+cd $CANOPY_CLIENT_DIR
+trap - ERR
+echo "SUCCESS - script successfully installed."

chrony_canopy_client.conf

@@ -0,0 +1,15 @@
+# To synchronize client to server, uncomment line below and replace IP with server's IP:
+# server 123.123.12.12 iburst
+
+maxupdateskew 5
+
+driftfile /var/lib/chrony/chrony.drift
+
+dumponexit
+dumpdir /var/log/chrony
+
+rtcsync
+
+keyfile /etc/chrony.keys
+commandkey 1
+generatecommandkey

chrony_canopy_client.service

@@ -0,0 +1,12 @@
+[Unit]
+Description = chrony service for canopy client
+Conflicts = ntpd.service
+
+[Service]
+Type = forking
+Restart = always
+PIDFile = /var/run/chronyd.pid
+ExecStart = /usr/sbin/chronyd -f /etc/chrony/chrony_canopy_client.conf -r -s
+
+[Install]
+WantedBy = default.target