Factory4 autocopy map

Introduction

When running a fleet of Robotino's one Robotino is the master and all other Robotino's are slaves. The slaves already receive information like poses or pathes from the master at runtime. The map file used for localisation is not copied at runtime since it has to be available before the smartsoft components start.

Enable slaves to access the master

sudo su
ssh-keygen
ssh-copy-id MASTERIP

start-smartsoft.sh

The script /opt/smartsoft/start-smartsoft.sh checks if this Robotino is a slave. If this is the case it checks if it tries to run rsync to copy the contents of master:/home/robotino/maps/default to slave:/home/robotino/maps/default