Can launch without running the shellscript

README.md

@@ -82,6 +82,35 @@ Nvidia Jeston TX2/Xavier/XavierNX have CAN controller(s) integrated in the main
     # receiving data from can0
     $ candump can0
     ```
+---------------------------------------------------------------------------------
+
+**Alternatives to 3:**
+1) Add into bunker_robot_base.launch:
+```
+<node name="setup_can_interface" pkg="bunker_bringup" type="bringup_can2usb.bash" output="screen" />
+```
+* The ROS environment is set up to handle password prompts, or configure sudo to allow these commands to execute without a password. This can be done by editing the sudoers file (using sudo visudo) like so:
+  ```
+    $ sudo visudo
+  ```
+* And adding a line for specific commands to be run without a password:
+  ```
+    <username> ALL=(ALL) NOPASSWD: /sbin/modprobe, /sbin/ip link set can0 up type can bitrate 500000
+  ```
+OR
+
+2) Run the shellscript:
+```
+$ sudo ./bunker_pro.sh
+```
+*Note*: modify bunker_pro.sh:
+```
+# Replace '/opt/ros/noetic' with your actual ROS distribution path.
+source /opt/ros/noetic/setup.bash
+# Replace '/home/ara/bunker_ws' with your actual ROS ws path.
+source /home/ara/bunker_ws/devel/setup.bash
+```
+---------------------------------------------------------------------------------
 
 4. Launch ROS nodes
 

bunker_bringup/launch/bunker_robot_base.launch

@@ -8,6 +8,8 @@
     <arg name="is_bunker_mini" default="false" />
     <arg name="pub_tf" default="true" />
 
+    <node name="setup_can_interface" pkg="bunker_bringup" type="bringup_can2usb.bash" output="screen" />
+
     <include file="$(find bunker_base)/launch/bunker_base.launch">
         <arg name="port_name" default="$(arg port_name)" />
         <arg name="simulated_robot" default="$(arg simulated_robot)" />

bunker_bringup/scripts/bunker_pro.sh

@@ -0,0 +1,42 @@
+#!/bin/bash
+
+# Check for root permissions
+if [ "$(id -u)" != "0" ]; then
+    echo "This script must be run as root" >&2
+    exit 1
+fi
+
+# Source the ROS environment
+# Replace '/opt/ros/noetic' with your actual ROS distribution path.
+source /opt/ros/noetic/setup.bash
+# Replace '/home/ara/bunker_ws' with your actual ROS ws path.
+source /home/ara/bunker_ws/devel/setup.bash
+
+# Load the gs_usb kernel module if not already loaded
+if ! lsmod | grep -q gs_usb; then
+    echo "Loading gs_usb module..."
+    sudo modprobe gs_usb
+else
+    echo "gs_usb module already loaded."
+fi
+
+# Set up the can0 device with a specified bitrate if not already set
+# Check if can0 is already up with the correct settings
+current_bitrate=$(ip -details link show can0 | grep -oP 'bitrate \K[^ ]+' || echo "down")
+
+if [[ $current_bitrate != "500000" ]]; then
+    echo "Setting up CAN0 interface..."
+    sudo ip link set can0 up type can bitrate 500000
+    if [ $? -eq 0 ]; then
+        echo "CAN0 interface setup successful."
+    else
+        echo "Failed to set up CAN0 interface." >&2
+        exit 2
+    fi
+else
+    echo "CAN0 interface already set up with correct bitrate."
+fi
+
+# Launch the ROS nodes
+echo "Launching ROS nodes..."
+roslaunch bunker_bringup bunker_robot_base.launch