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how-to-setup-dji-m100.md

@@ -62,6 +62,36 @@ roslaunch dji_sdk_read_cam manifold_cam.launch
 ```
 rqt can now be used onboard to visualize `/dji_sdk/image_raw` with settings in `~/ROS_WS/src/dji_sdk_read_cam/launch/manifold_cam.launch` .
 
+9- To launch automatically the nodes at boot, ensure the user ubuntu preference is autologin and get robot_startup (from Clearpath Robotics):
+```
+cd ~/ROS_WS/src
+git clone https://github.com/clearpathrobotics/robot_upstart.git
+```
+then create a new file ~/ROS_WS/src/robot_startup/launch/m100.launch with:
+```
+<launch>
+	<node pkg="dji_sdk" type="dji_sdk_node" name="dji_sdk" output="screen">
+		<!-- node parameters -->
+                <param name="drone_version" type="string" value="M100"/>
+		<param name="serial_name" type="string" value="/dev/ttyTHS1"/>
+		<param name="baud_rate" type="int" value="230400"/>
+		<param name="app_id" type="int" value="1030150"/>
+		<param name="app_version" type="int" value="1"/>
+		<param name="app_bundle_id" type="string" value="MistLabBuzz"/>
+		<param name="enc_key" type="string" value="4adad5e0c10585bf76e0baa9190e8d2183c2498cb6081b62fa001ecca9278e23"/>
+		<param name="groundstation_enable" type="int" value="1"/>
+	</node>
+
+	<node pkg="dji_sdk_demo" type="dji_sdk_clientMist" name="dji_sdk_clientMist" output="screen">
+	</node>
+</launch>
+```
+and install the startup script:
+```
+rosrun robot_upstart install robot_upstart/launch/m100.launch
+sudo service robot start
+```
+to see after reboot the log of the nodes started in the background use `sudo tail /var/log/upstart/robot.log -n 30`.
 For more information about the SDK: https://developer.dji.com/onboard-sdk/documentation/github-platform-docs/ROS/README.html and https://developer.dji.com/guidance-sdk/documentation/introduction/index.html
 
 If the remote controller paired need to be change, follow the indications here: