16 lines
743 B
SYSTEMD
16 lines
743 B
SYSTEMD
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[Unit]
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After=NetworkManager.service time-sync.target
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[Service]
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Type=forking
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User=spiri
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# Start roscore as a fork and then wait for the tcp port to be opened
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# —————————————————————-
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# Source all the environment variables, start roscore in a fork
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# Since the service type is forking, systemd doesn’t mark it as
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# ‘started’ until the original process exits, so we have the
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# non-forked shell wait until it can connect to the tcp opened by
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# roscore, and then exit, preventing conflicts with dependant services
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ExecStart=/bin/sh -c ". /opt/ros/melodic/setup.sh; . /etc/ros/env.sh; roscore & while ! echo exit | nc localhost 11311 > /dev/null; do sleep 1; done"
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[Install]
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WantedBy=multi-user.target
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