initial commit

README.md

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+# Systemd Services 
+
+Services to run on startup
+
+ - Radio Listener to tune the cameras, restart TX2 or FCU with a flip of switch on the RC
+ - ROSCORE start
+ - MAVROS start
+ - Camera start
+ - GPU stereo vision start
+ - RTSP broadcaster start
+
+# Install  
+
+Copy all files inside directory sbin to `/usr/sbin/` then run `sudo chmod +x`  for each file after coping
+
+Copy all files inside directory services to /etc/systemd/system/ 
+
+Copy `env.sh` to `/etc/ros/`then run `sudo chmod +x env.sh` 
+
+Enable all services 
+
+    sudo systemctl enable --now roslaunch 
+    sudo systemctl enable --now ros_radio_listener
+    sudo systemctl enable --now roscore
+    sudo systemctl enable --now apriltag
+    sudo systemctl enable --now camlaunch
+     
+    

env.sh

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+#!/bin/sh
+export ROS_HOSTNAME=$(hostname).local
+export ROS_MASTER_URI=http://$ROS_HOSTNAME:11311
+export SERVER_IP=192.168.195.50

sbin/apriltaglaunch

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+#!/bin/bash
+source ~/catkin-ws/devel/setup.bash
+source /etc/ros/env.sh
+export ROS_HOME=$(echo ~spiri/.ros)
+roslaunch apriltag_ros continuous_detection_nodelet.launch __ns:=stereo &
+PID=$!
+wait "$PID"

sbin/camlaunch

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+#!/bin/bash
+source ~/catkin-ws/devel/setup.bash
+source /etc/ros/env.sh
+export ROS_HOME=$(echo ~spiri/.ros)
+roslaunch jetson_csi_cam video-daylight-nodelet-800x600.launch
+PID=$!
+wait "$PID"

sbin/ros_radio_listener

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+#!/bin/bash
+source ~/catkin-ws/devel/setup.bash
+source /etc/ros/env.sh
+export ROS_HOME=$(echo ~spiri/.ros)
+roslaunch mavros_fly radio_listener.launch &
+PID=$!
+wait "$PID"

sbin/roslaunch

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+#!/bin/bash
+source ~/catkin-ws/devel/setup.bash
+source /etc/ros/env.sh
+export ROS_HOME=$(echo ~spiri/.ros)
+roslaunch mavros px4_spiri_avoid.launch &
+PID=$!
+wait "$PID"

service/apriltag.service

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+[Unit]
+Requires=camlaunch.service
+PartOf=camlaunch.service
+After=NetworkManager.service time-sync.target roscore.service camlaunch.service
+[Service]
+Type=simple
+User=spiri
+ExecStart=/usr/sbin/apriltaglaunch
+[Install]
+WantedBy=multi-user.target

service/camlaunch.service

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+[Unit]
+Requires=roscore.service
+PartOf=roscore.service
+After=NetworkManager.service time-sync.target roscore.service
+[Service]
+Type=simple
+User=spiri
+ExecStart=/usr/sbin/camlaunch
+[Install]
+WantedBy=multi-user.target

service/ros_radio_listener.service

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+[Unit]
+Requires=roscore.service
+PartOf=roscore.service
+After=NetworkManager.service time-sync.target roscore.service roslaunch.service
+[Service]
+Type=simple
+User=spiri
+ExecStart=/usr/sbin/ros_radio_listener
+[Install]
+WantedBy=multi-user.target

service/roscore.service

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+[Unit]
+After=NetworkManager.service time-sync.target
+[Service]
+Type=forking
+User=spiri
+# Start roscore as a fork and then wait for the tcp port to be opened
+# —————————————————————-
+# Source all the environment variables, start roscore in a fork
+# Since the service type is forking, systemd doesn’t mark it as
+# ‘started’ until the original process exits, so we have the
+# non-forked shell wait until it can connect to the tcp opened by
+# roscore, and then exit, preventing conflicts with dependant services
+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"
+[Install]
+WantedBy=multi-user.target

service/roslaunch.service

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+[Unit]
+Requires=roscore.service
+PartOf=roscore.service
+After=NetworkManager.service time-sync.target roscore.service
+[Service]
+Type=simple
+User=spiri
+ExecStart=/usr/sbin/roslaunch
+[Install]
+WantedBy=multi-user.target