Startup real time application

Adil Can Dai

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Oct 27, 2022, 4:57:39 AM10/27/22

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Hello,

I am trying to communicate a Raspberry Pi (Ros Master) with ComparctRIO 9063. After figuring out source distribution stuff I am able to communicate with the master from cRIO. Now I am trying to make a the VI a startup VI so that whenever the cRIO boots up it automatically talks with raspberry master. I could not find out how to do this. Could anyone please help about the issue?

Kind regards,

Adil Can Dai

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Oct 27, 2022, 5:04:04 AM10/27/22

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Can it be related to entering the master IP? When I run the VI from a laptop (which the cRIO is connected, but the VI is still under the cRIO chassis in the project window) the pop up window asks about the master IP. After entering the raspberry pi's master IP I can read the sent message from cRIO on raspberry terminal. When I create a real time application from build specs, this master IP is not asked, and cRIO does not communicat with the master when I boot up the cRIO.

But other than this maybe I am doing sth wrong creating the real time application where I include the VI as startup VI.

Chris Rogers

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Oct 27, 2022, 8:26:47 AM10/27/22

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No idea - never did a standalone app with it - sorry

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Buddy Curtis

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Oct 28, 2022, 10:12:57 AM10/28/22

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All you need to do deploy a real-time startup for cRIO is to make a build specification. build it with your top level vi selected. Then right-click to select as startup and and then deploy. This will put the startup.rtexe in right location and set the flag on the crio to launch it at boot up.

https://knowledge.ni.com/KnowledgeArticleDetails?id=kA03q000000YIKgCAO&l=en-US

I am curious about what libraries you are using to connect the labVIEW RT side with ROS master. I am using RTI DDS 's library to subscribe to ROS topics but would like to know other methods.

Chris Rogers

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Oct 28, 2022, 10:52:19 AM10/28/22

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Does anyone have drivers working for ROS2?

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On Oct 28, 2022, at 09:12, Buddy Curtis <buddyc...@gmail.com> wrote:

To view this discussion on the web visit https://groups.google.com/d/msgid/ros-sig-rosforlabview/c9739742-6b05-48ee-b191-779aaa169d88n%40googlegroups.com.

Adil Can Dai

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Oct 31, 2022, 3:19:38 AM10/31/22

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Sorry I am not using ROS2 :/

Adil Can Dai

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Oct 31, 2022, 3:31:04 AM10/31/22

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Thank you, for the link and your answer.

I am using this library:

https://github.com/tuftsBaxter/ROS-for-LabVIEW-Software

I solved the issue and cRIO is working as I want! The problem was that when I run my VI this library pops up a window and asks for the master IP to be typed in. So I needed to disable this function and set a fixed IP for my master. Then I was able to use my VI as a startup VI working with the functionality I wanted.

I am sharing my publisher VI, which only sends a UInt16 for test purposes, and also the VI I changed (Set Master IP) inside the library I downloaded. First image is the publisher VI used as the startup VI on cRIO and the 2nd one is the changed library VI. I included a network shared variable called MYmasterIP and I am defining it at the beginning of my VI.

I am new to Labview, so any better ideas to do what I am doing are appreciated, thank you.

Donkiss Zidane

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Jun 3, 2024, 5:34:01 AM6/3/24

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