From 53cccb2d038f6278c6aa405a33c54b1f4dad94c1 Mon Sep 17 00:00:00 2001
From: AhmedElsafy <ahmed.elsafy@gmail.com>
Date: Fri, 14 May 2021 15:47:03 -0300
Subject: [PATCH] Adding the gpu services

---
 sbin/gpudisplaunch            |  7 +++++++
 service/gpudisplaunch.service | 10 ++++++++++
 2 files changed, 17 insertions(+)
 create mode 100755 sbin/gpudisplaunch
 create mode 100644 service/gpudisplaunch.service

diff --git a/sbin/gpudisplaunch b/sbin/gpudisplaunch
new file mode 100755
index 0000000..dd94ed8
--- /dev/null
+++ b/sbin/gpudisplaunch
@@ -0,0 +1,7 @@
+#!/bin/bash                               
+source ~/catkin-ws/devel/setup.bash
+source /etc/ros/env.sh
+export ROS_HOME=$(echo ~spiri/.ros)
+roslaunch gpu_stereo_image_proc libsgm_stereo_image_proc.launch manager:=/stereo/standalone_nodelet __ns:=stereo
+PID=$!
+wait "$PID"
diff --git a/service/gpudisplaunch.service b/service/gpudisplaunch.service
new file mode 100644
index 0000000..934376a
--- /dev/null
+++ b/service/gpudisplaunch.service
@@ -0,0 +1,10 @@
+[Unit]
+Requires=roscore.service
+PartOf=roscore.service
+After=NetworkManager.service time-sync.target roscore.service camlaunch.service
+[Service]
+Type=simple
+User=spiri
+ExecStart=/usr/sbin/gpudisplaunch
+[Install]
+WantedBy=multi-user.target