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>
60 lines
1.9 KiB
Desktop File
60 lines
1.9 KiB
Desktop File
[Unit]
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Description=SaltyBot ROS2 Full Stack (perception + navigation + SLAM)
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Documentation=https://gitea.vayrette.com/seb/saltylab-firmware
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#
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# Launches: saltybot_bringup full_stack.launch.py (indoor mode by default)
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# enable_bridge:=false — ESP32-S3 serial bridge is managed by saltybot-esp32-serial.service
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#
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# Stack launched (t=0s → t=17s):
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# t= 0s robot_description (URDF + TF)
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# t= 2s RPLIDAR A1M8 + RealSense D435i
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# t= 3s LIDAR obstacle avoidance
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# t= 4s 4× IMX219 CSI cameras (optional)
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# t= 4s UWB driver
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# t= 5s Audio pipeline (wake word + STT + TTS)
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# t= 6s RTAB-Map SLAM (indoor) / GPS nav (outdoor)
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# t= 6s YOLOv8n person + object detection (TensorRT)
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# t= 7s Autonomous docking
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# t= 9s Person follower
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# t=14s Nav2 navigation stack
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# t=17s rosbridge WebSocket (ws://0.0.0.0:9090)
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#
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# Hard deps: can-bringup (Here4 GPS topics), esp32-serial (VESC telemetry)
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After=network-online.target can-bringup.service saltybot-esp32-serial.service saltybot-here4.service
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Wants=can-bringup.service saltybot-esp32-serial.service saltybot-here4.service
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[Service]
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Type=simple
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User=orin
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Group=orin
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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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# enable_bridge:=false — ESP32 serial bridge runs as its own service (saltybot-esp32-serial)
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# mode can be overridden via environment: Environment="SALTYBOT_MODE=outdoor"
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ExecStart=/opt/saltybot/scripts/ros2-launch.sh \
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saltybot_bringup full_stack.launch.py \
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enable_bridge:=false \
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mode:=${SALTYBOT_MODE:-indoor}
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Restart=on-failure
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RestartSec=10s
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StartLimitInterval=120s
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StartLimitBurst=3
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TimeoutStartSec=120s
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TimeoutStopSec=30s
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# ROS2 launch spawns many child processes; kill them on stop
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KillMode=control-group
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# Logging
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StandardOutput=journal
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StandardError=journal
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SyslogIdentifier=saltybot-ros2
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[Install]
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WantedBy=saltybot.target
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