sl-jetson
a506989af6
- udev: 70-canable.rules — gs_usb VID/PID 1d50:606f, names iface can0 and brings it up at 500 kbps on plug-in - systemd: can-bringup.service — oneshot service bound to sys-subsystem-net-devices-can0.device - scripts: can_setup.sh — manual up/down/verify helper; candump verify for VESC IDs 61 (0x3D) and 79 (0x4F) - install_systemd.sh updated to install can-bringup.service and all udev rules Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
56 lines
1.8 KiB
Bash
56 lines
1.8 KiB
Bash
#!/usr/bin/env bash
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# install_systemd.sh — Install saltybot systemd services on Orin
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# Run as root: sudo ./systemd/install_systemd.sh
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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 "${SCRIPT_DIR}")"
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SYSTEMD_DIR="/etc/systemd/system"
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DEPLOY_DIR="/opt/saltybot/jetson"
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UDEV_DIR="/etc/udev/rules.d"
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BRINGUP_SYSTEMD="${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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log() { echo "[install_systemd] $*"; }
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[[ "$(id -u)" == "0" ]] || { echo "Run as root"; exit 1; }
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# Deploy repo to /opt/saltybot/jetson
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log "Deploying to ${DEPLOY_DIR}..."
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mkdir -p "${DEPLOY_DIR}"
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rsync -a --exclude='.git' --exclude='__pycache__' \
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"${REPO_DIR}/" "${DEPLOY_DIR}/"
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# Install service files
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log "Installing systemd units..."
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cp "${SCRIPT_DIR}/saltybot.target" "${SYSTEMD_DIR}/"
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cp "${SCRIPT_DIR}/saltybot-social.service" "${SYSTEMD_DIR}/"
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cp "${SCRIPT_DIR}/tailscale-vpn.service" "${SYSTEMD_DIR}/"
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cp "${BRINGUP_SYSTEMD}/can-bringup.service" "${SYSTEMD_DIR}/"
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# Install udev rules
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log "Installing udev rules..."
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mkdir -p "${UDEV_DIR}"
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cp "${BRINGUP_UDEV}/70-canable.rules" "${UDEV_DIR}/"
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cp "${BRINGUP_UDEV}/90-magedok-touch.rules" "${UDEV_DIR}/"
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udevadm control --reload
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udevadm trigger --subsystem-match=net --action=add
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# Reload and enable
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systemctl daemon-reload
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systemctl enable saltybot.target
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systemctl enable saltybot-social.service
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systemctl enable tailscale-vpn.service
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systemctl enable can-bringup.service
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log "Services installed. Start with:"
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log " systemctl start saltybot-social"
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log " systemctl start tailscale-vpn"
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log " systemctl start can-bringup"
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log " journalctl -fu saltybot-social"
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log " journalctl -fu tailscale-vpn"
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log " journalctl -fu can-bringup"
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log ""
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log "Verify CAN bus: candump can0"
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log " VESC CAN IDs: 61 (0x3D) and 79 (0x4F)"
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