Added chrony

Updated wifi script

Author: roni-kreinin

conf/chrony.conf

@@ -0,0 +1,51 @@
+# Welcome to the chrony configuration file. See chrony.conf(5) for more
+# information about usuable directives.
+
+# This will use (up to):
+# - 4 sources from ntp.ubuntu.com which some are ipv6 enabled
+# - 2 sources from 2.ubuntu.pool.ntp.org which is ipv6 enabled as well
+# - 1 source from [01].ubuntu.pool.ntp.org each (ipv4 only atm)
+# This means by default, up to 6 dual-stack and up to 2 additional IPv4-only
+# sources will be used.
+# At the same time it retains some protection against one of the entries being
+# down (compare to just using one of the lines). See (LP: #1754358) for the
+# discussion.
+#
+# About using servers from the NTP Pool Project in general see (LP: #104525).
+# Approved by Ubuntu Technical Board on 2011-02-08.
+# See http://www.pool.ntp.org/join.html for more information.
+pool ntp.ubuntu.com        iburst maxsources 4
+pool 0.ubuntu.pool.ntp.org iburst maxsources 1
+pool 1.ubuntu.pool.ntp.org iburst maxsources 1
+pool 2.ubuntu.pool.ntp.org iburst maxsources 2
+
+server 192.168.186.2 presend 0 minpoll 0 maxpoll 0 iburst  prefer trust
+# Enable serving time to ntp clients on 192.168.186.0 subnet.
+allow 192.168.186.0/24
+# Allow local sync
+local stratum 10
+
+# This directive specify the location of the file containing ID/key pairs for
+# NTP authentication.
+keyfile /etc/chrony/chrony.keys
+
+# This directive specify the file into which chronyd will store the rate
+# information.
+driftfile /var/lib/chrony/chrony.drift
+
+# Uncomment the following line to turn logging on.
+#log tracking measurements statistics
+
+# Log files location.
+logdir /var/log/chrony
+
+# Stop bad estimates upsetting machine clock.
+maxupdateskew 100.0
+
+# This directive enables kernel synchronisation (every 11 minutes) of the
+# real-time clock. Note that it can’t be used along with the 'rtcfile' directive.
+rtcsync
+
+# Step the system clock instead of slewing it if the adjustment is larger than
+# one second, but only in the first three clock updates.
+makestep 1 3

scripts/turtlebot4_setup.sh

@@ -57,7 +57,8 @@ sudo apt install -y \
 libgpiod-dev \
 network-manager \
 daemontools \
-ros-galactic-robot-upstart
+ros-galactic-robot-upstart \
+chrony
 
 # Install bluetooth packages
 bash $SCRIPT_DIR/bluetooth.sh
@@ -78,6 +79,12 @@ sudo bash $SCRIPT_DIR/swap_off.sh
 # Copy udev rules
 sudo cp $SETUP_DIR/udev/turtlebot4.rules /etc/udev/rules.d/
 
+# Copy chrony config
+sudo cp $SETUP_DIR/conf/chrony.conf /etc/chrony/
+
+# Restart chrony
+sudo service chrony restart
+
 # Enable usb0
 echo "dtoverlay=dwc2,dr_mode=peripheral" | sudo tee -a /boot/firmware/usercfg.txt
 sudo sed -i '${s/$/ modules-load=dwc2,g_ether/}' /boot/firmware/cmdline.txt
@@ -89,9 +96,12 @@ echo "dtoverlay=i2c-gpio,bus=3,i2c_gpio_delay_us=1,i2c_gpio_sda=4,i2c_gpio_scl=5
 echo "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" | sudo tee -a ~/.bashrc
 echo "export CYCLONEDDS_URI='<CycloneDDS><Domain><General><NetworkInterfaceAddress>wlan0,usb0</></></></>'" | sudo tee -a ~/.bashrc
 
+# Source galactic setup in bashrc
+echo "source /opt/ros/galactic/setup.bash" | sudo tee -a ~/.bashrc
+
 # Robot upstart
 
-ros2 run robot_upstart install turtlebot4_bringup/launch/$model.launch.py --job turtlebot4
+ros2 run robot_upstart install turtlebot4_bringup/launch/$model.launch.py --job turtlebot4 --rmw rmw_cyclonedds_cpp --rmw_config "'<CycloneDDS><Domain><General><NetworkInterfaceAddress>wlan0,usb0</></></></>'"
 
 sudo systemctl daemon-reload
 

scripts/wifi.sh

@@ -74,6 +74,7 @@ echo "SSID: $ssid";
 echo "Password: $password";
 echo "AP mode: $ap";
 echo "Domain: $domain";
+read -p "Press enter to apply these settings."
 
 # Create netplan .yaml file
 echo -e "network: \n\
@@ -82,6 +83,7 @@ echo -e "network: \n\
         eth0: \n\
             dhcp4: true \n\
             optional: true \n\
+            addresses: [192.168.185.3/24] \n\
         usb0: \n\
             dhcp4: false \n\
             optional: true \n\
@@ -101,7 +103,7 @@ echo -e "network: \n\
 
 #If reg domain already exists, replace it
 if grep -Fq "REGDOMAIN=" /etc/default/crda 
-then 
+then
     sudo sed -i "s/REGDOMAIN=.*/REGDOMAIN=$domain/g" /etc/default/crda
 else
     echo "REGDOMAIN=$domain" | sudo tee -a /etc/default/crda
@@ -110,7 +112,7 @@ fi
 
 #If country domain already exists, replace it
 if grep -Fq "COUNTRY=" /etc/environment 
-then 
+then
     sudo sed -i "s/COUNTRY=.*/COUNTRY=$domain/g" /etc/environment
 else
     echo "COUNTRY=$domain" | sudo tee -a /etc/environment
@@ -123,7 +125,7 @@ case $domain in
     create3_domain=FCC
     ;;
 
-    JP)
+    JP|JP3)
     create3_domain=Japan
     ;;
 esac