robot-systemd

Debian package for auto-starting a ROS launch files with systemd using systemd_ros.

How to use it

Adapt /etc/ros/robot-bringup according to the needs of your robot:

Key	Default	Description
PACKAGE	robot_bringup	Name of the ROS package which contains the main launch file
LAUNCH_FILE	robot.launch	Name of the launch file within the above mentioned PACKAGE
SERVICE	robot-bringup	Name of the generated systemd service.
USER	robot	Linux User which is used to start the services
GROUP	robot	Linux Group which is used to start the services

Adding extra service parameters

The file /etc/ros/robot-bringup-extras.yaml can be used to configure additional Service and Unit parameters for each ROS node.

In the following example we make sure that the /talker node is started with CPUWeight set to 200.

/talker:
    Service:
        CPUWeight: 200