From 5999da44280c4248c302022658a8d67ec88a465f Mon Sep 17 00:00:00 2001
From: acki <ackimixs@protonmail.com>
Date: Wed, 14 May 2025 14:18:11 -0400
Subject: [PATCH] update

---
 ros2_launch_marcel.service | 12 +++++++++---
 start_ros2.sh              | 10 +++++++---
 2 files changed, 16 insertions(+), 6 deletions(-)

diff --git a/ros2_launch_marcel.service b/ros2_launch_marcel.service
index 9066060..0eaab8f 100644
--- a/ros2_launch_marcel.service
+++ b/ros2_launch_marcel.service
@@ -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
diff --git a/start_ros2.sh b/start_ros2.sh
index eeeeb83..2f7de70 100755
--- a/start_ros2.sh
+++ b/start_ros2.sh
@@ -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
\ No newline at end of file
+exec ros2 launch modelec_core test.modelec.launch.py