Merge pull request 'feat: systemd auto-start for ROS2 + dashboard on Orin boot (bd-1hyn)' (#732) from sl-perception/bd-1hyn-orin-autostart into main

2026-04-17 23:11:15 -04:00 · 2026-04-17 23:11:15 -04:00 · b353a2ba29
commit b353a2ba29
parent 329797d43c 26e71d7a14
11 changed files with 466 additions and 75 deletions
--- a/jetson/ros2_ws/src/saltybot_bringup/launch/full_stack.launch.py
+++ b/jetson/ros2_ws/src/saltybot_bringup/launch/full_stack.launch.py
@ -39,11 +39,7 @@ Modes
    ─ UWB driver (2-anchor DW3000, publishes /uwb/target)
    ─ YOLOv8n person detection (TensorRT)
    ─ Person follower with UWB+camera fusion
-<<<<<<< HEAD
-    ─ cmd_vel bridge → ESP32 BALANCE (deadman + ramp + AUTONOMOUS gate)
-=======
    ─ cmd_vel bridge → ESP32-S3 (deadman + ramp + AUTONOMOUS gate)
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
    ─ rosbridge WebSocket (port 9090)

  outdoor
@ -61,13 +57,8 @@ Modes
 Launch sequence (wall-clock delays — conservative for cold start)
 ─────────────────────────────────────────────────────────────────
   t= 0s  robot_description   (URDF + TF tree)
-<<<<<<< HEAD
-   t= 0s  ESP32 bridge        (serial port owner — must be first)
-   t= 2s  cmd_vel bridge      (consumes /cmd_vel, needs ESP32 bridge up)
-=======
   t= 0s  ESP32-S3 bridge        (serial port owner — must be first)
   t= 2s  cmd_vel bridge      (consumes /cmd_vel, needs ESP32-S3 bridge up)
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
   t= 2s  sensors             (RPLIDAR + RealSense)
   t= 4s  UWB driver          (independent serial device)
   t= 4s  CSI cameras         (optional, independent)
@ -80,17 +71,10 @@ Launch sequence (wall-clock delays — conservative for cold start)

 Safety wiring
 ─────────────
-<<<<<<< HEAD
-  • ESP32 bridge must be up before cmd_vel bridge sends any command.
-  • cmd_vel bridge has 500ms deadman: stops robot if /cmd_vel goes silent.
-  • ESP32 BALANCE AUTONOMOUS mode gate (md=2) in cmd_vel bridge — robot stays still
-    until ESP32 BALANCE firmware is in AUTONOMOUS mode regardless of /cmd_vel.
-=======
  • ESP32-S3 bridge must be up before cmd_vel bridge sends any command.
  • cmd_vel bridge has 500ms deadman: stops robot if /cmd_vel goes silent.
  • ESP32-S3 AUTONOMOUS mode gate (md=2) in cmd_vel bridge — robot stays still
    until ESP32-S3 firmware is in AUTONOMOUS mode regardless of /cmd_vel.
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
  • follow_enabled:=false disables person follower without stopping the node.
  • To e-stop at runtime: ros2 topic pub /saltybot/estop std_msgs/Bool '{data: true}'

@ -107,11 +91,7 @@ Topics published by this stack
  /person/target                   PoseStamped    (camera position, base_link)
  /person/detections               Detection2DArray
  /cmd_vel                         Twist          (from follower or Nav2)
-<<<<<<< HEAD
-  /saltybot/cmd                    String         (to ESP32 BALANCE)
-=======
  /saltybot/cmd                    String         (to ESP32-S3)
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
  /saltybot/imu                    Imu
  /saltybot/balance_state          String
 """
@ -229,11 +209,7 @@ def generate_launch_description():
    enable_bridge_arg = DeclareLaunchArgument(
        "enable_bridge",
        default_value="true",
-<<<<<<< HEAD
-        description="Launch ESP32 serial bridge + cmd_vel bridge (disable for sim/rosbag)",
-=======
        description="Launch ESP32-S3 serial bridge + cmd_vel bridge (disable for sim/rosbag)",
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
    )

    enable_rosbridge_arg = DeclareLaunchArgument(
@ -294,11 +270,7 @@ enable_mission_logging_arg = DeclareLaunchArgument(
    esp32_port_arg = DeclareLaunchArgument(
        "esp32_port",
        default_value="/dev/esp32-bridge",
-<<<<<<< HEAD
-        description="ESP32 USB CDC serial port",
-=======
        description="ESP32-S3 USB CDC serial port",
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
    )

    # ── Shared substitution handles ───────────────────────────────────────────
@ -318,11 +290,7 @@ enable_mission_logging_arg = DeclareLaunchArgument(
        launch_arguments={"use_sim_time": use_sim_time}.items(),
    )

-<<<<<<< HEAD
-    # ── t=0s  ESP32 bidirectional serial bridge ────────────────────────────────
-=======
-    # ── t=0s  ESP32-S3 bidirectional serial bridge ────────────────────────────────
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
+    # ── t=0s  ESP32-S3 bidirectional serial bridge ───────────────────────────────
    esp32_bridge = GroupAction(
        condition=IfCondition(LaunchConfiguration("enable_bridge")),
        actions=[
@ -352,11 +320,7 @@ enable_mission_logging_arg = DeclareLaunchArgument(
        ],
    )

-<<<<<<< HEAD
-    # ── t=2s  cmd_vel safety bridge (depends on ESP32 bridge) ────────────────
-=======
    # ── t=2s  cmd_vel safety bridge (depends on ESP32-S3 bridge) ────────────────
->>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
    cmd_vel_bridge = TimerAction(
        period=2.0,
        actions=[
--- a/jetson/ros2_ws/src/saltybot_bringup/systemd/can-bringup.service
+++ b/jetson/ros2_ws/src/saltybot_bringup/systemd/can-bringup.service
@ -1,5 +1,5 @@
 [Unit]
-Description=CANable 2.0 CAN bus bringup (can0, 500 kbps)
+Description=CANable 2.0 CAN bus bringup (can0, 1 Mbps DroneCAN — Here4 GPS)
 Documentation=https://gitea.vayrette.com/seb/saltylab-firmware/issues/643
 # Wait until the gs_usb net device appears; udev fires After=sys-subsystem-net-devices-can0.device
 After=network.target sys-subsystem-net-devices-can0.device
@ -10,7 +10,7 @@ BindsTo=sys-subsystem-net-devices-can0.device
 Type=oneshot
 RemainAfterExit=yes

-ExecStart=/usr/sbin/ip link set can0 up type can bitrate 500000
+ExecStart=/usr/sbin/ip link set can0 up type can bitrate 1000000
 ExecStop=/usr/sbin/ip link set can0 down

 StandardOutput=journal
--- a/jetson/ros2_ws/src/saltybot_bringup/udev/70-canable.rules
+++ b/jetson/ros2_ws/src/saltybot_bringup/udev/70-canable.rules
@ -2,6 +2,10 @@
 # Exposes the adapter as can0 via the SocketCAN subsystem.
 # Issue: https://gitea.vayrette.com/seb/saltylab-firmware/issues/643
 #
+# Bitrate is set by can-bringup.service (1 Mbps DroneCAN for Here4 GPS, bd-p47c).
+# This rule only assigns the interface name and tags it for systemd; it does NOT
+# bring up the interface — that is handled by can-bringup.service.
+#
 # Install:
 #   sudo cp 70-canable.rules /etc/udev/rules.d/
 #   sudo udevadm control --reload && sudo udevadm trigger
@ -16,4 +20,4 @@
 SUBSYSTEM=="net", ACTION=="add", \
    ATTRS{idVendor}=="1d50", ATTRS{idProduct}=="606f", \
    NAME="can0", \
-    RUN+="/sbin/ip link set can0 up type can bitrate 500000"
+    TAG+="systemd"
--- a/jetson/ros2_ws/src/saltybot_bringup/udev/80-esp32.rules
+++ b/jetson/ros2_ws/src/saltybot_bringup/udev/80-esp32.rules
@ -0,0 +1,31 @@
+# ESP32-S3 USB serial devices (bd-wim1)
+#
+# ESP32-S3 BALANCE (Waveshare LCD 1.28) — USB CDC via CH343 USB-UART chip
+#   Appears as /dev/ttyACM0, symlinked to /dev/esp32-balance
+#   idVendor  = 1a86  (QinHeng Electronics / WCH)
+#   idProduct = 55d4  (CH343 USB-UART)
+#
+# ESP32-S3 IO (bare board JTAG USB) — native USB CDC
+#   Appears as /dev/ttyACM1, symlinked to /dev/esp32-io
+#   idVendor  = 303a  (Espressif)
+#   idProduct = 1001  (ESP32-S3 USB CDC)
+#
+# Install:
+#   sudo cp 80-esp32.rules /etc/udev/rules.d/
+#   sudo udevadm control --reload && sudo udevadm trigger
+#
+# Verify:
+#   ls -la /dev/esp32-*
+#   python3 -c "import serial; s=serial.Serial('/dev/esp32-balance', 460800); s.close(); print('OK')"
+
+# ESP32-S3 BALANCE — CH343 USB-UART (bd-wim1 UART serial bridge)
+SUBSYSTEM=="tty", ATTRS{idVendor}=="1a86", ATTRS{idProduct}=="55d4", \
+    SYMLINK+="esp32-balance", \
+    TAG+="systemd", \
+    MODE="0660", GROUP="dialout"
+
+# ESP32-S3 IO — Espressif native USB CDC
+SUBSYSTEM=="tty", ATTRS{idVendor}=="303a", ATTRS{idProduct}=="1001", \
+    SYMLINK+="esp32-io", \
+    TAG+="systemd", \
+    MODE="0660", GROUP="dialout"
--- a/jetson/scripts/ros2-launch.sh
+++ b/jetson/scripts/ros2-launch.sh
@ -0,0 +1,38 @@
+#!/usr/bin/env bash
+# ros2-launch.sh — Source ROS2 Humble + workspace overlay, then exec ros2 launch
+#
+# Used by saltybot-*.service units so that ExecStart= does not need to inline
+# bash source chains.
+#
+# Usage (from a service file):
+#   ExecStart=/opt/saltybot/scripts/ros2-launch.sh <pkg> <launch_file> [args...]
+#
+# Env vars respected:
+#   ROS_DISTRO        default: humble
+#   SALTYBOT_WS       default: /opt/saltybot/jetson/ros2_ws/install
+#   ROS_DOMAIN_ID     default: 42
+
+set -euo pipefail
+
+ROS_DISTRO="${ROS_DISTRO:-humble}"
+SALTYBOT_WS="${SALTYBOT_WS:-/opt/saltybot/jetson/ros2_ws/install}"
+
+ROS_SETUP="/opt/ros/${ROS_DISTRO}/setup.bash"
+WS_SETUP="${SALTYBOT_WS}/setup.bash"
+
+if [[ ! -f "${ROS_SETUP}" ]]; then
+    echo "[ros2-launch] ERROR: ROS2 setup not found: ${ROS_SETUP}" >&2
+    exit 1
+fi
+
+# shellcheck disable=SC1090
+source "${ROS_SETUP}"
+
+if [[ -f "${WS_SETUP}" ]]; then
+    # shellcheck disable=SC1090
+    source "${WS_SETUP}"
+fi
+
+export ROS_DOMAIN_ID="${ROS_DOMAIN_ID:-42}"
+
+exec ros2 launch "$@"
--- a/jetson/systemd/install_systemd.sh
+++ b/jetson/systemd/install_systemd.sh
@ -1,55 +1,194 @@
 #!/usr/bin/env bash
-# install_systemd.sh — Install saltybot systemd services on Orin
+# install_systemd.sh — Deploy and enable saltybot systemd services on Orin
+#
 # Run as root:  sudo ./systemd/install_systemd.sh
+#
+# What this does:
+#   1. Deploy repo to /opt/saltybot/jetson
+#   2. Build ROS2 workspace (colcon)
+#   3. Install systemd unit files
+#   4. Install udev rules (CAN, ESP32)
+#   5. Enable and optionally start all services
+#
+# Services installed (start order):
+#   can-bringup.service           CANable2 @ 1 Mbps DroneCAN (Here4 GPS)
+#   saltybot-esp32-serial.service ESP32-S3 BALANCE UART bridge (bd-wim1)
+#   saltybot-here4.service        Here4 GPS DroneCAN bridge (bd-p47c)
+#   saltybot-ros2.service         Full ROS2 stack (perception + nav)
+#   saltybot-dashboard.service    Web dashboard on port 8080
+#   saltybot-social.service       Social-bot stack (speech + LLM + face)
+#   tailscale-vpn.service         Tailscale VPN for remote access
+#
+# Prerequisites:
+#   apt install ros-humble-desktop python3-colcon-common-extensions
+#   pip install dronecan  (for Here4 GPS node)
+#   usermod -aG dialout orin  (for serial port access)
 set -euo pipefail

 SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
 REPO_DIR="$(dirname "${SCRIPT_DIR}")"
 SYSTEMD_DIR="/etc/systemd/system"
 DEPLOY_DIR="/opt/saltybot/jetson"
+SCRIPTS_DIR="${DEPLOY_DIR}/scripts"
 UDEV_DIR="/etc/udev/rules.d"
 BRINGUP_SYSTEMD="${REPO_DIR}/ros2_ws/src/saltybot_bringup/systemd"
 BRINGUP_UDEV="${REPO_DIR}/ros2_ws/src/saltybot_bringup/udev"
+WS_SRC="${REPO_DIR}/ros2_ws/src"
+WS_BUILD="${DEPLOY_DIR}/ros2_ws"
+
+ROS_DISTRO="${ROS_DISTRO:-humble}"
+ROS_SETUP="/opt/ros/${ROS_DISTRO}/setup.bash"
+ORIN_USER="${SALTYBOT_USER:-orin}"

 log()  { echo "[install_systemd] $*"; }
+warn() { echo "[install_systemd] WARN: $*" >&2; }
+die()  { echo "[install_systemd] ERROR: $*" >&2; exit 1; }

-[[ "$(id -u)" == "0" ]] || { echo "Run as root"; exit 1; }
+[[ "$(id -u)" == "0" ]] || die "Run as root (sudo $0)"
+[[ -f "${ROS_SETUP}" ]] || die "ROS2 ${ROS_DISTRO} not found at ${ROS_SETUP}"

-# Deploy repo to /opt/saltybot/jetson
-log "Deploying to ${DEPLOY_DIR}..."
+# ── 1. Deploy repo ─────────────────────────────────────────────────────────────
+log "Deploying repo to ${DEPLOY_DIR}..."
 mkdir -p "${DEPLOY_DIR}"
-rsync -a --exclude='.git' --exclude='__pycache__' \
+rsync -a \
+    --exclude='.git' \
+    --exclude='__pycache__' \
+    --exclude='*.pyc' \
+    --exclude='.pytest_cache' \
+    --exclude='build/' \
+    --exclude='install/' \
+    --exclude='log/' \
    "${REPO_DIR}/" "${DEPLOY_DIR}/"

-# Install service files
-log "Installing systemd units..."
-cp "${SCRIPT_DIR}/saltybot.target"        "${SYSTEMD_DIR}/"
-cp "${SCRIPT_DIR}/saltybot-social.service" "${SYSTEMD_DIR}/"
-cp "${SCRIPT_DIR}/tailscale-vpn.service"  "${SYSTEMD_DIR}/"
-cp "${BRINGUP_SYSTEMD}/can-bringup.service" "${SYSTEMD_DIR}/"
+# Install launch wrapper script
+log "Installing ros2-launch.sh..."
+install -m 755 "${SCRIPT_DIR}/../scripts/ros2-launch.sh" "/opt/saltybot/scripts/ros2-launch.sh"

-# Install udev rules
+# ── 2. Build ROS2 workspace ────────────────────────────────────────────────────
+if command -v colcon &>/dev/null; then
+    log "Building ROS2 workspace (colcon)..."
+    # shellcheck disable=SC1090
+    source "${ROS_SETUP}"
+    (
+        cd "${WS_BUILD}"
+        colcon build \
+            --symlink-install \
+            --cmake-args -DCMAKE_BUILD_TYPE=Release \
+            2>&1 | tee /tmp/colcon-build.log
+    )
+    log "Workspace build complete."
+else
+    warn "colcon not found — skipping workspace build."
+    warn "Run manually: cd ${WS_BUILD} && colcon build --symlink-install"
+fi
+
+# ── 3. Install systemd units ───────────────────────────────────────────────────
+log "Installing systemd units..."
+
+# Units from jetson/systemd/
+for unit in \
+    saltybot.target \
+    saltybot-ros2.service \
+    saltybot-esp32-serial.service \
+    saltybot-here4.service \
+    saltybot-dashboard.service \
+    saltybot-social.service \
+    tailscale-vpn.service
+do
+    if [[ -f "${SCRIPT_DIR}/${unit}" ]]; then
+        cp "${SCRIPT_DIR}/${unit}" "${SYSTEMD_DIR}/"
+        log "  Installed ${unit}"
+    else
+        warn "  ${unit} not found in ${SCRIPT_DIR}/ — skipping"
+    fi
+done
+
+# Units from saltybot_bringup/systemd/
+for unit in \
+    can-bringup.service \
+    chromium-kiosk.service \
+    magedok-display.service \
+    salty-face-server.service
+do
+    if [[ -f "${BRINGUP_SYSTEMD}/${unit}" ]]; then
+        cp "${BRINGUP_SYSTEMD}/${unit}" "${SYSTEMD_DIR}/"
+        log "  Installed ${unit} (from bringup)"
+    else
+        warn "  ${unit} not found in bringup systemd/ — skipping"
+    fi
+done
+
+# ── 4. Install udev rules ──────────────────────────────────────────────────────
 log "Installing udev rules..."
 mkdir -p "${UDEV_DIR}"
-cp "${BRINGUP_UDEV}/70-canable.rules"    "${UDEV_DIR}/"
-cp "${BRINGUP_UDEV}/90-magedok-touch.rules" "${UDEV_DIR}/"
+
+for rule in \
+    70-canable.rules \
+    80-esp32.rules \
+    90-magedok-touch.rules
+do
+    if [[ -f "${BRINGUP_UDEV}/${rule}" ]]; then
+        cp "${BRINGUP_UDEV}/${rule}" "${UDEV_DIR}/"
+        log "  Installed ${rule}"
+    else
+        warn "  ${rule} not found — skipping"
+    fi
+done
+
 udevadm control --reload
 udevadm trigger --subsystem-match=net   --action=add
+udevadm trigger --subsystem-match=tty   --action=add
+log "udev rules reloaded."

-# Reload and enable
+# ── 5. Set permissions ─────────────────────────────────────────────────────────
+log "Ensuring '${ORIN_USER}' is in dialout group (serial port access)..."
+if id "${ORIN_USER}" &>/dev/null; then
+    usermod -aG dialout "${ORIN_USER}" || warn "usermod failed — add ${ORIN_USER} to dialout manually"
+else
+    warn "User '${ORIN_USER}' not found — skip usermod"
+fi
+
+# ── 6. Reload systemd and enable services ─────────────────────────────────────
+log "Reloading systemd daemon..."
 systemctl daemon-reload
-systemctl enable saltybot.target
-systemctl enable saltybot-social.service
-systemctl enable tailscale-vpn.service
-systemctl enable can-bringup.service

-log "Services installed. Start with:"
-log "  systemctl start saltybot-social"
-log "  systemctl start tailscale-vpn"
-log "  systemctl start can-bringup"
-log "  journalctl -fu saltybot-social"
-log "  journalctl -fu tailscale-vpn"
-log "  journalctl -fu can-bringup"
+log "Enabling services..."
+systemctl enable \
+    saltybot.target \
+    can-bringup.service \
+    saltybot-esp32-serial.service \
+    saltybot-here4.service \
+    saltybot-ros2.service \
+    saltybot-dashboard.service \
+    saltybot-social.service \
+    tailscale-vpn.service
+
+# Enable mosquitto (MQTT broker) if installed
+if systemctl list-unit-files mosquitto.service &>/dev/null; then
+    systemctl enable mosquitto.service
+    log "  Enabled mosquitto.service"
+fi
+
+# ── 7. Summary ────────────────────────────────────────────────────────────────
 log ""
-log "Verify CAN bus: candump can0"
-log "  VESC CAN IDs: 61 (0x3D) and 79 (0x4F)"
+log "Installation complete."
+log ""
+log "Services will start automatically on next reboot."
+log "To start now without rebooting:"
+log "  sudo systemctl start saltybot.target"
+log ""
+log "Check status:"
+log "  systemctl status can-bringup saltybot-esp32-serial saltybot-here4 saltybot-ros2 saltybot-dashboard"
+log ""
+log "Live logs:"
+log "  journalctl -fu can-bringup"
+log "  journalctl -fu saltybot-esp32-serial"
+log "  journalctl -fu saltybot-here4"
+log "  journalctl -fu saltybot-ros2"
+log "  journalctl -fu saltybot-dashboard"
+log ""
+log "Dashboard: http://<orin-ip>:8080"
+log "rosbridge: ws://<orin-ip>:9090"
+log ""
+log "Note: saltybot-esp32-serial and saltybot-here4 require packages"
+log "  from bd-wim1 (PR #727) and bd-p47c (PR #728) to be merged."
--- a/jetson/systemd/saltybot-dashboard.service
+++ b/jetson/systemd/saltybot-dashboard.service
@ -0,0 +1,38 @@
+[Unit]
+Description=SaltyBot Web Dashboard (saltybot_dashboard — port 8080)
+Documentation=https://gitea.vayrette.com/seb/saltylab-firmware
+#
+# Serves the live monitoring dashboard on http://<orin-ip>:8080
+# Subscribes to ROS2 topics over the local DomainID (ROS_DOMAIN_ID=42).
+# Starts after the ROS2 stack but does not hard-depend on it —
+# the dashboard handles missing topics gracefully and will show data as
+# nodes come up.
+After=network-online.target saltybot-ros2.service
+Wants=saltybot-ros2.service
+
+[Service]
+Type=simple
+User=orin
+Group=orin
+
+Environment="ROS_DOMAIN_ID=42"
+Environment="ROS_DISTRO=humble"
+Environment="SALTYBOT_WS=/opt/saltybot/jetson/ros2_ws/install"
+
+ExecStart=/opt/saltybot/scripts/ros2-launch.sh \
+    saltybot_dashboard dashboard.launch.py
+
+Restart=on-failure
+RestartSec=5s
+StartLimitInterval=60s
+StartLimitBurst=5
+
+TimeoutStartSec=30s
+TimeoutStopSec=10s
+
+StandardOutput=journal
+StandardError=journal
+SyslogIdentifier=saltybot-dashboard
+
+[Install]
+WantedBy=saltybot.target
--- a/jetson/systemd/saltybot-esp32-serial.service
+++ b/jetson/systemd/saltybot-esp32-serial.service
@ -0,0 +1,54 @@
+[Unit]
+Description=SaltyBot ESP32-S3 BALANCE UART Serial Bridge (bd-wim1)
+Documentation=https://gitea.vayrette.com/seb/saltylab-firmware/issues/bd-wim1
+# Requires package: saltybot_esp32_serial (merged in bd-wim1 → PR #727)
+#
+# Publishes:
+#   /saltybot/attitude     String JSON  (pitch, motor_cmd, vbat_mv, state)
+#   /saltybot/balance_state String
+#   /can/battery           BatteryState
+#   /can/vesc/left/state   Float32MultiArray  [erpm, voltage_v, current_a, temp_c]
+#   /can/vesc/right/state  Float32MultiArray
+#   /can/connection_status String
+#
+# Subscribes:
+#   /cmd_vel               Twist   → DRIVE command to ESP32 BALANCE
+#   /estop                 Bool    → ESTOP command
+#   /saltybot/arm          Bool    → ARM command
+#   /saltybot/pid_update   String  → PID gains update
+After=network-online.target
+# Wait for /dev/esp32-balance (created by 80-esp32.rules udev rule).
+# TAG+="systemd" in the udev rule makes systemd track dev-esp32\x2dbalance.device.
+# If device is not present at boot the node's auto-reconnect loop handles it.
+Wants=network-online.target
+
+[Service]
+Type=simple
+User=orin
+Group=dialout
+
+# ROS2 Humble environment + workspace overlay
+Environment="ROS_DOMAIN_ID=42"
+Environment="ROS_DISTRO=humble"
+Environment="SALTYBOT_WS=/opt/saltybot/jetson/ros2_ws/install"
+
+ExecStart=/opt/saltybot/scripts/ros2-launch.sh \
+    saltybot_esp32_serial esp32_balance.launch.py
+
+# The node auto-reconnects on serial disconnect (2 s retry).
+# Restart=on-failure covers node crash; RestartSec gives the device time to re-enumerate.
+Restart=on-failure
+RestartSec=5s
+StartLimitInterval=60s
+StartLimitBurst=5
+
+TimeoutStartSec=30s
+TimeoutStopSec=10s
+
+# Logging
+StandardOutput=journal
+StandardError=journal
+SyslogIdentifier=saltybot-esp32-serial
+
+[Install]
+WantedBy=saltybot.target
--- a/jetson/systemd/saltybot-here4.service
+++ b/jetson/systemd/saltybot-here4.service
@ -0,0 +1,50 @@
+[Unit]
+Description=SaltyBot Here4 GPS DroneCAN Bridge (bd-p47c)
+Documentation=https://gitea.vayrette.com/seb/saltylab-firmware/issues/bd-p47c
+# Requires package: saltybot_dronecan_gps (merged in bd-p47c → PR #728)
+# Requires: can0 at 1 Mbps (set by can-bringup.service)
+#
+# Publishes:
+#   /gps/fix           NavSatFix               5 Hz   → navsat_transform EKF
+#   /gps/velocity      TwistWithCovarianceStamped 5 Hz
+#   /here4/fix         NavSatFix               5 Hz   (alias)
+#   /here4/imu         Imu                    50 Hz
+#   /here4/mag         MagneticField          10 Hz
+#   /here4/baro        FluidPressure          10 Hz
+#   /here4/status      String JSON             1 Hz   (node health, fix quality)
+#   /here4/node_id     Int32                  once   (auto-discovered DroneCAN ID)
+#
+# Subscribes:
+#   /rtcm              ByteMultiArray          on demand  (RTCM corrections)
+#   /rtcm_hex          String                  on demand  (hex fallback)
+After=network-online.target can-bringup.service
+Requires=can-bringup.service
+# If can-bringup stops (CANable2 unplugged), stop this service too
+BindsTo=can-bringup.service
+
+[Service]
+Type=simple
+User=orin
+Group=dialout
+
+Environment="ROS_DOMAIN_ID=42"
+Environment="ROS_DISTRO=humble"
+Environment="SALTYBOT_WS=/opt/saltybot/jetson/ros2_ws/install"
+
+ExecStart=/opt/saltybot/scripts/ros2-launch.sh \
+    saltybot_dronecan_gps here4.launch.py
+
+Restart=on-failure
+RestartSec=5s
+StartLimitInterval=60s
+StartLimitBurst=5
+
+TimeoutStartSec=30s
+TimeoutStopSec=10s
+
+StandardOutput=journal
+StandardError=journal
+SyslogIdentifier=saltybot-here4
+
+[Install]
+WantedBy=saltybot.target
--- a/jetson/systemd/saltybot-ros2.service
+++ b/jetson/systemd/saltybot-ros2.service
@ -0,0 +1,59 @@
+[Unit]
+Description=SaltyBot ROS2 Full Stack (perception + navigation + SLAM)
+Documentation=https://gitea.vayrette.com/seb/saltylab-firmware
+#
+# Launches: saltybot_bringup full_stack.launch.py (indoor mode by default)
+#   enable_bridge:=false  — ESP32-S3 serial bridge is managed by saltybot-esp32-serial.service
+#
+# Stack launched (t=0s → t=17s):
+#   t= 0s  robot_description  (URDF + TF)
+#   t= 2s  RPLIDAR A1M8 + RealSense D435i
+#   t= 3s  LIDAR obstacle avoidance
+#   t= 4s  4× IMX219 CSI cameras (optional)
+#   t= 4s  UWB driver
+#   t= 5s  Audio pipeline (wake word + STT + TTS)
+#   t= 6s  RTAB-Map SLAM (indoor) / GPS nav (outdoor)
+#   t= 6s  YOLOv8n person + object detection (TensorRT)
+#   t= 7s  Autonomous docking
+#   t= 9s  Person follower
+#   t=14s  Nav2 navigation stack
+#   t=17s  rosbridge WebSocket (ws://0.0.0.0:9090)
+#
+# Hard deps: can-bringup (Here4 GPS topics), esp32-serial (VESC telemetry)
+After=network-online.target can-bringup.service saltybot-esp32-serial.service saltybot-here4.service
+Wants=can-bringup.service saltybot-esp32-serial.service saltybot-here4.service
+
+[Service]
+Type=simple
+User=orin
+Group=orin
+
+Environment="ROS_DOMAIN_ID=42"
+Environment="ROS_DISTRO=humble"
+Environment="SALTYBOT_WS=/opt/saltybot/jetson/ros2_ws/install"
+
+# enable_bridge:=false — ESP32 serial bridge runs as its own service (saltybot-esp32-serial)
+# mode can be overridden via environment: Environment="SALTYBOT_MODE=outdoor"
+ExecStart=/opt/saltybot/scripts/ros2-launch.sh \
+    saltybot_bringup full_stack.launch.py \
+    enable_bridge:=false \
+    mode:=${SALTYBOT_MODE:-indoor}
+
+Restart=on-failure
+RestartSec=10s
+StartLimitInterval=120s
+StartLimitBurst=3
+
+TimeoutStartSec=120s
+TimeoutStopSec=30s
+
+# ROS2 launch spawns many child processes; kill them on stop
+KillMode=control-group
+
+# Logging
+StandardOutput=journal
+StandardError=journal
+SyslogIdentifier=saltybot-ros2
+
+[Install]
+WantedBy=saltybot.target
--- a/jetson/systemd/saltybot.target
+++ b/jetson/systemd/saltybot.target
@ -1,8 +1,22 @@
 [Unit]
-Description=Saltybot Full Stack Target
+Description=SaltyBot Full Stack Target
 Documentation=https://gitea.vayrette.com/seb/saltylab-firmware
-After=docker.service network-online.target
-Requires=docker.service
+#
+# Start everything:  systemctl start saltybot.target
+# Stop everything:   systemctl stop  saltybot.target
+# Check all:         systemctl status 'saltybot-*' can-bringup
+#
+# Boot order (dependency chain):
+#   network-online.target
+#     → can-bringup.service          (CANable2 @ 1 Mbps DroneCAN)
+#         → saltybot-here4.service   (Here4 GPS → /gps/fix, /here4/*)
+#     → saltybot-esp32-serial.service (ESP32-S3 UART → /can/vesc/*, /saltybot/attitude)
+#     → saltybot-ros2.service        (full_stack.launch.py, perception + nav)
+#         → saltybot-dashboard.service (port 8080)
+#   (independent) saltybot-social.service
+#   (independent) tailscale-vpn.service
+After=network-online.target
+Wants=network-online.target

 [Install]
 WantedBy=multi-user.target