Deploy Software

In order to deploy software on the robot you need to follow this procedure:

1. Create a workspace with the repositories you want to test in the robot.

2. Ensure that in your CMakeLists you install all the libraries, nodes, folders and files. Because it copies the install folder generated when compiling.

3. Make a backup of the existing deployed_ws inside the robot.

4. rosrun pal_deploy deploy.py -p "NAME OF THE PACKAGES YOU WANT TO DEPLOY SEPARATED BY SPACE"

5. Reboot the robot if it’s the first time you deploy your software. If you are deploying a controller or something related with the model of the robot, is necessary to do pal_restart_deployer each consecutive time that you deploy.

IMPORTANT

Always test your software first in simulation and ensure that there is no any strange behaviour i.e high_accelerations, collisions, jerky movements.