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