# Changing start up nodes in Pi Image

**URL:** <https://forum.ubiquityrobotics.com/t/changing-start-up-nodes-in-pi-image/55>\
**Category:** General Questions\
**Created:** [June 12, 2018, 3:39am UTC](https://forum.ubiquityrobotics.com/t/changing-start-up-nodes-in-pi-image/55 "2018-06-12T03:39:17Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![jewnicorn](https://forum.ubiquityrobotics.com/letter_avatar_proxy/v4/letter/j/58f4c7/32.png) [@jewnicorn](https://forum.ubiquityrobotics.com/u/jewnicorn)\
**Post date:** [June 12, 2018, 3:39am UTC](https://forum.ubiquityrobotics.com/t/changing-start-up-nodes-in-pi-image/55/1 "2018-06-12T03:39:17Z")

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I’m interested in changing the nodes which launch when the raspberry PI boots up. I was wondering where the current nodes were initialised, and how I could change them?

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**Author:** ![rohbotics](https://forum.ubiquityrobotics.com/user_avatar/forum.ubiquityrobotics.com/rohbotics/32/222_2.png) [@rohbotics](https://forum.ubiquityrobotics.com/u/rohbotics)\
**Post date:** [June 13, 2018, 7:26pm UTC](https://forum.ubiquityrobotics.com/t/changing-start-up-nodes-in-pi-image/55/2 "2018-06-13T19:26:55Z")

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Here are the systemd service files that are relevant.

`/etc/systemd/system/roscore.service`  
and `/etc/systemd/system/magni-base.service`

As you can imagine roscore.service launches roscore  
magni-base.service starts the core nodes for Magni, our powerful mobile base ([https://ubiquityrobotics.com/](https://ubiquityrobotics.com/)).

If you look in magni-base.service, you see that it launches the script at /usr/sbin/magni-base  
The relevant part of this script is line 32 `roslaunch magni_demos teleop.launch &` this launches the launch file teleop.launch from the magni\_demos package.

If you already have a launch file for the nodes you should make a copy of both `/etc/systemd/system/magni-base.service` `/usr/sbin/magni-base` in their respective directories, naming them to whatever is relevant to your robot.

Change your version of the script in `/usr/sbin/` to launch the file you want, and your version of the service file in `/etc/systemd/system/` to point to your script.

Then run `sudo systemctl disable magni-base` and `sudo systemctl enable {YOUR SERVICE}`

If you need help with making the launch files, see the 2nd half of this tutorial [http://wiki.ros.org/ROS/Tutorials/UsingRqtconsoleRoslaunch](http://wiki.ros.org/ROS/Tutorials/UsingRqtconsoleRoslaunch).

Rohan