Note:
Make sure the COBOTTA Driver has been installed. If the driver has not been installed, go back to the Installing the COBOTTA Driver document.

 

This document will help if the driver does not start at the launch (turning on) of the COBOTTA. This document will help resolve the issue by using the terminal to have the driver autoload at startup.


Note: 
If a click can be heard from the COBOTTA after loading the driver, that means the driver has been loaded in properly and is ready for use.


The following code used to autoload the driver at start came from DENSO-Wave.


The VIM text editor will be used in order to auto launch the driver. In order to install VIM, enter the following into the terminal (The following link contains the source used for how to install VIM): Install VIM Text Editor  

$ sudo apt update
$ sudo apt search vim
$ sudo apt install vim

The VIM text editor is different from other text editors. The text editor automatically loads into the Command Mode (uses h, j, k, and l as arrow keys for navigation). To enter text into the text editor, press the 'i' key to enter into Insert Mode, hit 'CTRL + C'. To save and exit, press :w to save and :q to exit out of the text editor. The following link gives more details on how to use the text editor: How to Use VIM Editor in Ubuntu 

 


Step 1:

Enter the following into the terminal to create a new file that identifies the user name, group, and mode:


$ sudo vi /etc/udev/rules.d/
90-drivers.rules


Step 2:

In the VIM text editor, press the '
i' key to insert the following text into the file:
KERNEL == "denso_cobotta", OWNER = 
"<OWNER>", GROUP = "<GROUP>", 
MODE = "0664"



Note: 
Press 'CTRL + C' to exit out of Insert Mode.




Step 3:

Save the changes by pressing '
:w' and exit by pressing ':q' .



Step 4:

Enter the following into the terminal to create another file that will be used to set the state of the motor:
$ sudo vi /etc/modprobe.d/
denso_cobotta.conf


Step 5:

In the VIM text editor, press the '
i' key to insert the following text into the file: 
options denso_cobotta 
io_power_mode=1




Step 6:

Save the changes by pressing '
:w' and exit by pressing ':q' .





Step 7:

Enter the following into the terminal to create another file to identify the robot as denso_cobotta: 


$ sudo vi /etc/modules-load.d/
denso_cobotta.conf


Step 8:

In the VIM text editor, press the 'i' key to insert the following text into the file: 
denso_cobotta




Step 9:

Save the changes by pressing '
:w' and exit by pressing ':q' .



Step 10:

Enter the following into the terminal to reboot the COBOTTA:
$ sudo reboot


Note: 
If the reboot did not fix the issue, turn the COBOTTA completely off, wait 30 seconds, and then turn it back on. If this did not, work, check to see if the code entered from steps 1 to 10 were entered correctly.




This concludes the Fixing the COBOTTA Driver to Autoload at Startup document. Proceed onto the Installing the ROS Dependencies, Source Code, and Build Folder document.


Finished