modelec/modelec-marcel-ROS
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acki
2025-05-14 14:18:11 -04:00
parent a11ceed1d9
commit 5999da4428
2 changed files with 16 additions and 6 deletions
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12
ros2_launch_marcel.service
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@@ -1,20 +1,26 @@
[Unit]
Description=Lancement automatique du launch file ROS 2
After=network.target
After=graphical.target
After=graphical.target network.target
Requires=graphical.target
[Service]
Type=simple
User=modelec
WorkingDirectory=/home/modelec/modelec-serge-ROS
ExecStart=/home/modelec/modelec-serge-ROS/start_ros2.sh
# Variables d'environnement
Environment=HOME=/home/modelec
Environment=LOGNAME=modelec
Environment=USER=modelec
Environment=PATH=/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin
Environment=DISPLAY=:0
Environment=XAUTHORITY=/home/modelec/.Xauthority
Environment=PATH=/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin
StandardOutput=journal
StandardError=journal
Restart=on-failure
RestartSec=5
[Install]
WantedBy=graphical.target

10
start_ros2.sh
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@@ -1,5 +1,10 @@
#!/bin/bash
set -e # quitte en cas d'erreur
set -e
export DISPLAY=:0
export XAUTHORITY=/home/modelec/.Xauthority
xhost +SI:localuser:modelec
source /opt/ros/jazzy/setup.bash
source /home/modelec/modelec-serge-ROS/install/setup.bash
@@ -9,5 +14,4 @@ export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
export FASTRTPS_DEFAULT_PROFILES_FILE=/home/modelec/modelec-serge-ROS/fastdds_setup.xml
export ROS_DOMAIN_ID=128
# Lance ton launch file
exec ros2 launch modelec_core test.modelec.launch.py
exec ros2 launch modelec_core test.modelec.launch.py