yaml config file is updated too late in the installation process

[ted-miller]

We got up to installing the configuration file (.yaml) before we noticed differences between our system and the instructions. The instructions say that "Within 30 seconds of loading the config file, you should get alarm 8001[10]," but we never did.

Can you clarify whether the config yaml was loaded and whether you edited it? (Please post a copy here too.) @jimmy-mcelwain and I recently updated the readme steps. As I look this over right now, I fear we may have messed up. The current instructions tell you to load the file before updating it with the Agent IP address.

The 8001[10] alarm occurs until after MotoROS2 connects to the Agent for the first time. So, this would require that the configuration information is already in place.

Originally posted by @ted-miller in #374 (comment)

[jimmy-mcelwain]

I agree that this should be changed. But also, your comment says

The 8001[10] alarm occurs until after MotoROS2 connects to the Agent for the first time.

But the README says

Within 30 seconds of loading the configuration file, you should get alarm 8001[10] Speed FB enabled, reboot now.
Reboot again and there should be no alarms.

Which one of these is it? The call site of this alarm is hidden, I'm not sure where to find it. Is it upon loading the configuration file, or upon connecting to the agent for the first time? Because the section describing connecting to the agent is also much later than the description of this alarm (and even was before we changed the README.md recently).

[ted-miller]

It is intentionally hidden. The alarm occurs within Ros_Controller_Initialize, which occurs after Ros_Communication_ConnectToAgent.