Update services for Stanley

flochre · Oct 1, 2023 · 702600a · 702600a
1 parent 85420a4
commit 702600a
Show file tree

Hide file tree

Showing 4 changed files with 22 additions and 0 deletions.
diff --git a/image_builder/data/jammy-rt-humble-stanley/rootfs/etc/systemd/system/stanley2_vmxpi.service b/image_builder/data/jammy-rt-humble-stanley/rootfs/etc/systemd/system/stanley2_vmxpi.service
@@ -0,0 +1,14 @@
+[Unit]
+Description=Service to start Vmxpi
+After=syslog.target network.target
+[Service]
+LimitMEMLOCK=102400
+LimitMEMLOCKSoft=102400
+LimitRTPRIO=99
+LimitRTPRIOSoft=99
+ExecStart=/bin/bash /opt/stanley2/scripts/stanley2-vmxpi-start
+Restart=on-failure
+RestartSec=10s
+User=root
+[Install]
+WantedBy=multi-user.target
diff --git a/image_builder/data/jammy-rt-humble-stanley/rootfs/opt/stanley2/scripts/stanley2-vmxpi-start b/image_builder/data/jammy-rt-humble-stanley/rootfs/opt/stanley2/scripts/stanley2-vmxpi-start
@@ -0,0 +1,6 @@
+#!/bin/bash
+
+source /opt/ros/humble/setup.bash
+source /opt/stanley2/stanley2_control/setup.bash
+
+ros2 launch ros2_vmxpi ros2_vmxpi_launch.py
diff --git a/image_builder/data/jammy-rt-humble-stanley/rootfs/opt/stanley2/stanley2_control b/image_builder/data/jammy-rt-humble-stanley/rootfs/opt/stanley2/stanley2_control
@@ -0,0 +1 @@
+../../../../../../../stanley2_control_ws/install_aarch64
diff --git a/image_builder/data/jammy-rt-humble-stanley/scripts/phase1-target b/image_builder/data/jammy-rt-humble-stanley/scripts/phase1-target
@@ -49,6 +49,7 @@ ls -la /usr/local/lib
 # activate stanley2 service
 systemctl daemon-reload
 systemctl enable stanley2.service
+systemctl enable stanley2_vmxpi.service
 
 # clean up to reduce image size
 apt-get autoremove -y && apt-get clean
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1 @@
		../../../../../../../stanley2_control_ws/install_aarch64