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This guide explains how to setup a PyRO name server as well as the roslaunch2 server (takes ~5 mins) using systemd (fully available in Ubuntu since 15.04; thus, for Ubuntu 14.04 / Indigo, you'll need the old Upstart).

Setting up a PyRO name server:

  • Note that a PyRO name server should only be started once per setup (for all robots / simulations); otherwise you end up with a partitioned name space, see here.
  • First, edit the file $(rospack find roslaunch2)/config/systemd/pyro_name_server.service and fix the path in ExecStart as well as the user in User. The rest should be fine.
  • Once done, copy the file to the default location systemd scripts:
sudo cp $(rospack find roslaunch2)/config/systemd/pyro_name_server.service /etc/systemd/system/
  • Add/enable the service unit to systemd: sudo systemctl enable pyro_name_server.service
  • Test if you can run it with: sudo systemctl start pyro_name_server.service (shouldn't produce any output). Then sudo systemctl status pyro_name_server.service should show something like:

● pyro_name_server.service - PyRO Name Server Loaded: loaded (/etc/systemd/system/pyro_name_server.service; enabled; vendor preset: enabled) Active: active (running) since Mo 2017-05-15 15:07:00 CEST; 6s ago Main PID: 14033 (pyro_name_serve) CGroup: /system.slice/pyro_name_server.service ├─14033 /bin/bash -l /home/abo/Development/SmartMAPS/catkin_ws/src/roslaunch2/config/systemd/pyro_name_server.bash └─14163 python -m Pyro4.naming -n 129.217.52.228

Mai 15 15:07:00 boeckenkamp systemd[1]: Started PyRO Name Server.

  • Reboot and check if the server is running:
sudo reboot
# After reboot:
ps aux | grep Pyro4\.naming
  • Logging output can be viewed with:
sudo journalctl -ru pyro_name_server

Setting up a roslaunch2 server:

  • Note that a roslaunch2 server is required to be running on all machines that should support roslaunch2's remote API. (If such features are not required, the server does not need to run and all other features of roslaunch2 still work.)
  • The process is similar to setting up the name server, see above for more details.
  • Like for the PyRO name server (see above), fix the file $(rospack find roslaunch2)/config/systemd/roslaunch2_server.service according to your system configuration (path and user name).
  • Clearly, on a system without a PyRO name server (and its associated service unit file), you also need to change:
Wants=pyro_name_server.service
After=pyro_name_server.service

to

Wants=network-online.target
After=network.target network-online.target

in roslaunch2_server.service.

  • Then, type:
sudo cp $(rospack find roslaunch2)/config/systemd/roslaunch2_server.service /etc/systemd/system/
sudo systemctl enable roslaunch2_server.service
sudo systemctl start roslaunch2_server.service
sudo reboot
# After reboot:
ps aux | grep roslaunch2_server

Remarks:

  • To remove a systemd unit, type sudo systemctl disable $SERVICE_UNIT_FILE. This only works if you haven't made changes that prevents systemctl to find the correct file. In such cases, remove the appropriate file in /etc/systemd/system/$TYPE_GIVEN_IN_INSTALL_SECTION_WANDED_BY.wants/ manually.
  • Unfortunately, sudo is required here. Although there is a systemctl --user option, it is not possible to execute a script on reboot. (You can try to use this but you will need to login.) This may help partially.
  • We can probably generate a .service file from a given .service.in template file using CMake/Python (TODO). The above procedures then can refer to the generated and installed files which are specifically created for the system of interest.