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>
51 lines
1.6 KiB
Desktop File
51 lines
1.6 KiB
Desktop File
[Unit]
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Description=SaltyBot Here4 GPS DroneCAN Bridge (bd-p47c)
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Documentation=https://gitea.vayrette.com/seb/saltylab-firmware/issues/bd-p47c
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# Requires package: saltybot_dronecan_gps (merged in bd-p47c → PR #728)
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# Requires: can0 at 1 Mbps (set by can-bringup.service)
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#
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# Publishes:
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# /gps/fix NavSatFix 5 Hz → navsat_transform EKF
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# /gps/velocity TwistWithCovarianceStamped 5 Hz
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# /here4/fix NavSatFix 5 Hz (alias)
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# /here4/imu Imu 50 Hz
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# /here4/mag MagneticField 10 Hz
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# /here4/baro FluidPressure 10 Hz
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# /here4/status String JSON 1 Hz (node health, fix quality)
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# /here4/node_id Int32 once (auto-discovered DroneCAN ID)
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#
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# Subscribes:
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# /rtcm ByteMultiArray on demand (RTCM corrections)
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# /rtcm_hex String on demand (hex fallback)
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After=network-online.target can-bringup.service
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Requires=can-bringup.service
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# If can-bringup stops (CANable2 unplugged), stop this service too
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BindsTo=can-bringup.service
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[Service]
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Type=simple
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User=orin
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Group=dialout
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Environment="ROS_DOMAIN_ID=42"
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Environment="ROS_DISTRO=humble"
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Environment="SALTYBOT_WS=/opt/saltybot/jetson/ros2_ws/install"
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ExecStart=/opt/saltybot/scripts/ros2-launch.sh \
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saltybot_dronecan_gps here4.launch.py
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Restart=on-failure
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RestartSec=5s
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StartLimitInterval=60s
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StartLimitBurst=5
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TimeoutStartSec=30s
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TimeoutStopSec=10s
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StandardOutput=journal
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StandardError=journal
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SyslogIdentifier=saltybot-here4
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[Install]
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WantedBy=saltybot.target
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