sl-perception
26e71d7a14
Implements full boot-time auto-start for the SaltyBot ROS2 stack on Jetson Orin. Everything comes up automatically after power-on with correct dependency ordering and restart-on-failure for each service. New systemd services: saltybot-ros2.service full_stack.launch.py (perception + SLAM + Nav2) saltybot-esp32-serial.service ESP32-S3 BALANCE UART bridge (bd-wim1, PR #727) saltybot-here4.service Here4 DroneCAN GPS bridge (bd-p47c, PR #728) saltybot-dashboard.service Web dashboard on port 8080 Updated: saltybot.target now Wants all four new services with boot-order comments can-bringup.service bitrate 500 kbps → 1 Mbps (DroneCAN for Here4) 70-canable.rules remove bitrate from udev RUN+=; let service own the bitrate, add TAG+=systemd for device unit install_systemd.sh installs all services + udev rules, colcon build, enables mosquitto, usermod dialout full_stack.launch.py resolve 8 merge conflict markers (ESP32-S3 rename) and fix missing indent on enable_mission_logging_arg — file was un-launchable with SyntaxError New: scripts/ros2-launch.sh sources ROS2 Humble + workspace overlay, then exec ros2 launch — used by all ROS2 service units via ExecStart= udev/80-esp32.rules /dev/esp32-balance (CH343) and /dev/esp32-io (ESP32-S3 native USB CDC) Resolves bd-1hyn Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
195 lines
7.1 KiB
Bash
195 lines
7.1 KiB
Bash
#!/usr/bin/env bash
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# install_systemd.sh — Deploy and enable saltybot systemd services on Orin
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#
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# Run as root: sudo ./systemd/install_systemd.sh
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#
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# What this does:
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# 1. Deploy repo to /opt/saltybot/jetson
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# 2. Build ROS2 workspace (colcon)
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# 3. Install systemd unit files
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# 4. Install udev rules (CAN, ESP32)
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# 5. Enable and optionally start all services
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#
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# Services installed (start order):
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# can-bringup.service CANable2 @ 1 Mbps DroneCAN (Here4 GPS)
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# saltybot-esp32-serial.service ESP32-S3 BALANCE UART bridge (bd-wim1)
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# saltybot-here4.service Here4 GPS DroneCAN bridge (bd-p47c)
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# saltybot-ros2.service Full ROS2 stack (perception + nav)
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# saltybot-dashboard.service Web dashboard on port 8080
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# saltybot-social.service Social-bot stack (speech + LLM + face)
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# tailscale-vpn.service Tailscale VPN for remote access
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#
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# Prerequisites:
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# apt install ros-humble-desktop python3-colcon-common-extensions
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# pip install dronecan (for Here4 GPS node)
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# usermod -aG dialout orin (for serial port access)
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set -euo pipefail
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SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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REPO_DIR="$(dirname "${SCRIPT_DIR}")"
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SYSTEMD_DIR="/etc/systemd/system"
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DEPLOY_DIR="/opt/saltybot/jetson"
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SCRIPTS_DIR="${DEPLOY_DIR}/scripts"
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UDEV_DIR="/etc/udev/rules.d"
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BRINGUP_SYSTEMD="${REPO_DIR}/ros2_ws/src/saltybot_bringup/systemd"
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BRINGUP_UDEV="${REPO_DIR}/ros2_ws/src/saltybot_bringup/udev"
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WS_SRC="${REPO_DIR}/ros2_ws/src"
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WS_BUILD="${DEPLOY_DIR}/ros2_ws"
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ROS_DISTRO="${ROS_DISTRO:-humble}"
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ROS_SETUP="/opt/ros/${ROS_DISTRO}/setup.bash"
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ORIN_USER="${SALTYBOT_USER:-orin}"
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log() { echo "[install_systemd] $*"; }
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warn() { echo "[install_systemd] WARN: $*" >&2; }
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die() { echo "[install_systemd] ERROR: $*" >&2; exit 1; }
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[[ "$(id -u)" == "0" ]] || die "Run as root (sudo $0)"
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[[ -f "${ROS_SETUP}" ]] || die "ROS2 ${ROS_DISTRO} not found at ${ROS_SETUP}"
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# ── 1. Deploy repo ─────────────────────────────────────────────────────────────
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log "Deploying repo to ${DEPLOY_DIR}..."
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mkdir -p "${DEPLOY_DIR}"
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rsync -a \
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--exclude='.git' \
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--exclude='__pycache__' \
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--exclude='*.pyc' \
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--exclude='.pytest_cache' \
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--exclude='build/' \
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--exclude='install/' \
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--exclude='log/' \
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"${REPO_DIR}/" "${DEPLOY_DIR}/"
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# Install launch wrapper script
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log "Installing ros2-launch.sh..."
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install -m 755 "${SCRIPT_DIR}/../scripts/ros2-launch.sh" "/opt/saltybot/scripts/ros2-launch.sh"
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# ── 2. Build ROS2 workspace ────────────────────────────────────────────────────
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if command -v colcon &>/dev/null; then
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log "Building ROS2 workspace (colcon)..."
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# shellcheck disable=SC1090
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source "${ROS_SETUP}"
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(
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cd "${WS_BUILD}"
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colcon build \
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--symlink-install \
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--cmake-args -DCMAKE_BUILD_TYPE=Release \
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2>&1 | tee /tmp/colcon-build.log
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)
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log "Workspace build complete."
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else
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warn "colcon not found — skipping workspace build."
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warn "Run manually: cd ${WS_BUILD} && colcon build --symlink-install"
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fi
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# ── 3. Install systemd units ───────────────────────────────────────────────────
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log "Installing systemd units..."
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# Units from jetson/systemd/
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for unit in \
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saltybot.target \
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saltybot-ros2.service \
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saltybot-esp32-serial.service \
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saltybot-here4.service \
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saltybot-dashboard.service \
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saltybot-social.service \
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tailscale-vpn.service
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do
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if [[ -f "${SCRIPT_DIR}/${unit}" ]]; then
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cp "${SCRIPT_DIR}/${unit}" "${SYSTEMD_DIR}/"
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log " Installed ${unit}"
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else
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warn " ${unit} not found in ${SCRIPT_DIR}/ — skipping"
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fi
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done
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# Units from saltybot_bringup/systemd/
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for unit in \
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can-bringup.service \
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chromium-kiosk.service \
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magedok-display.service \
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salty-face-server.service
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do
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if [[ -f "${BRINGUP_SYSTEMD}/${unit}" ]]; then
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cp "${BRINGUP_SYSTEMD}/${unit}" "${SYSTEMD_DIR}/"
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log " Installed ${unit} (from bringup)"
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else
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warn " ${unit} not found in bringup systemd/ — skipping"
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fi
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done
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# ── 4. Install udev rules ──────────────────────────────────────────────────────
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log "Installing udev rules..."
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mkdir -p "${UDEV_DIR}"
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for rule in \
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70-canable.rules \
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80-esp32.rules \
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90-magedok-touch.rules
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do
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if [[ -f "${BRINGUP_UDEV}/${rule}" ]]; then
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cp "${BRINGUP_UDEV}/${rule}" "${UDEV_DIR}/"
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log " Installed ${rule}"
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else
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warn " ${rule} not found — skipping"
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fi
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done
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udevadm control --reload
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udevadm trigger --subsystem-match=net --action=add
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udevadm trigger --subsystem-match=tty --action=add
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log "udev rules reloaded."
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# ── 5. Set permissions ─────────────────────────────────────────────────────────
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log "Ensuring '${ORIN_USER}' is in dialout group (serial port access)..."
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if id "${ORIN_USER}" &>/dev/null; then
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usermod -aG dialout "${ORIN_USER}" || warn "usermod failed — add ${ORIN_USER} to dialout manually"
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else
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warn "User '${ORIN_USER}' not found — skip usermod"
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fi
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# ── 6. Reload systemd and enable services ─────────────────────────────────────
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log "Reloading systemd daemon..."
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systemctl daemon-reload
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log "Enabling services..."
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systemctl enable \
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saltybot.target \
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can-bringup.service \
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saltybot-esp32-serial.service \
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saltybot-here4.service \
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saltybot-ros2.service \
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saltybot-dashboard.service \
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saltybot-social.service \
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tailscale-vpn.service
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# Enable mosquitto (MQTT broker) if installed
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if systemctl list-unit-files mosquitto.service &>/dev/null; then
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systemctl enable mosquitto.service
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log " Enabled mosquitto.service"
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fi
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# ── 7. Summary ────────────────────────────────────────────────────────────────
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log ""
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log "Installation complete."
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log ""
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log "Services will start automatically on next reboot."
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log "To start now without rebooting:"
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log " sudo systemctl start saltybot.target"
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log ""
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log "Check status:"
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log " systemctl status can-bringup saltybot-esp32-serial saltybot-here4 saltybot-ros2 saltybot-dashboard"
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log ""
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log "Live logs:"
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log " journalctl -fu can-bringup"
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log " journalctl -fu saltybot-esp32-serial"
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log " journalctl -fu saltybot-here4"
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log " journalctl -fu saltybot-ros2"
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log " journalctl -fu saltybot-dashboard"
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log ""
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log "Dashboard: http://<orin-ip>:8080"
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log "rosbridge: ws://<orin-ip>:9090"
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log ""
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log "Note: saltybot-esp32-serial and saltybot-here4 require packages"
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log " from bd-wim1 (PR #727) and bd-p47c (PR #728) to be merged."
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