Welcome to DOFBOT Pro repository

Manage APP Control Services

In the factory image, the APP control program will automatically start at boot, which includes two parts: the first is the ROS node, and the second is the APP program.

1. Close APP Program

The APP and handle trial services are set to auto-start at boot in the factory image by default. This may cause interference during actual development. Therefore, if you do not need the APP and handle control services to start automatically at boot, please follow the operations below.

1.1. Orin Board Users

1.1.1. Temporarily Close APP Program Service

#Three terminals, in order: APP control program, handle control program, APP device search program
After the auto-start terminal opens, press CTRL+C to end the program, or close the window

1.1.2. Permanently Close APP Service

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After unchecking APP-Arm, restart the robotic arm

1.2. Jetson-Nano Board Users

1.2.1. Temporarily Close APP Program Service

Open terminal and enter the following program:

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arm-stop

1.2.2. Permanently Close APP Service

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sudo systemctl disable yahboom_arm.service
sudo systemctl disable yahboom_app.service

2. Open APP Program

If you permanently closed the APP service in the previous step and later want to open the APP service or restore the auto-start function of the APP service at boot, please follow the operations below.

2.1. Orin Board Users

2.1.1. Temporarily Open APP Service

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bash ~/dofbot_pro/APP_DOFBOT_PRO/start_app.sh

2.1.2. Set APP Service to Auto-start at Boot

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After checking APP-Arm, restart the robotic arm

2.2. Jetson-Nano Board Users

2.2.1. Temporarily Open APP Service

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sudo systemctl start yahboom_arm.service
sudo systemctl start yahboom_app.service

2.2.2. Set APP Service to Auto-start at Boot

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sudo systemctl enable yahboom_arm.service
sudo systemctl enable yahboom_app.service