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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

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