Backing Up Husky Configuration ================================= Upgrading your Clearpath Husky to ROS Noetic from older ROS distributions is a straightforward process, however it's important to understand that each Husky is different, having undergone customization to your specifications by our robotsmiths. For more complete upgrade instructions see `this guide `_. Please take the time to understand what these modifications are, and how to recreate them on your fresh install of Ubuntu Focal/ROS Noetic. Performing a Backup ----------------------------- 1. As a fail-safe, please make an image of your robot's hard drive. You should always be able to restore this image if you need to revert back to your previous configuration. * The easiest approach may be to either connect a removable (USB or similar) hard drive to the robot PC, or to unplug the robot hard drive and insert it into a PC or workstation. * You can then use a tool such as CloneZilla or dd to write a backup image of your robot's hard drive onto another hard drive. * Alternatively, you can simply replace the robot computer's hard-drive, reserving the Hydro-configured drive and installing a new one to use with Noetic. 2. There are several places in the filesystem you should specifically look for customizations for your Husky: =============================================== ==================================================== Location: Description: =============================================== ==================================================== ``/etc/network/interfaces`` Your robot may have a custom network configuration configured in this file. ``/etc/ros/*/husky-core.d/*.launch`` Will contain ``base.launch`` and ``description.launch``, may contain custom launch files for your robot configuration. Replaced by ``ros.d`` in newer versions. ``/etc/ros/*/ros.d/*.launch`` Will contain ``base.launch`` and ``description.launch``, may contain custom launch files for your robot configuration. Replaces ``husky-core.d`` in newer versions. ``/etc/ros/setup.bash`` May contain environment variables for your configuration. =============================================== ==================================================== 3. Please save all these files and use them as a reference during Noetic configuration!