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   = PRSG RoboMagellan ROS node
  
positive.code: ----
  
  
  === 5. Some Details
  Install Rpi.GPIO. Try this first:
  
   sudo apt-get install python-rpi.gpio
  
negative.code:  SUBSYSTEM=="gpio", KERNEL=="gpio*", ACTION=="add", PROGRAM="/bin/sh -c 'chown root:gpio /sys%p/active_low /sys%p/direction /sys%p/edge
  
  The file 99-gpio.rules can be found in the doc directory.
  
  Add `python /home/robot/catkin_ws/src/robo_magellan/scripts/shutdownSwitch.py &` to the UP in /etc/rc.local just before the existing `exit 0` line.
  
  The shutdownSwitch.py script assumes a momentary, normally open switch is connected from UP board pin 18 to ground (pin 20). You may also need an external 10k pullup resistor from pin 18 to 3.3 V (pin 17). A fragment of the link:https://up-community.org/wiki/Pinout[UP pinout] is included here for clarity.
  
  image::switch-pins.PNG[width="400", height="300"]
  
  === 6. Get the Code
  You will need ROS Kinetic installed on your machine. 
  