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This guide explains how to setup a PyRO name server as well as the roslaunch2 server (takes ~5 mins) using Upstart (replaced in Ubuntu since 14.10; thus, for Ubuntu 16.04 / Kinetic, you'll want to use systemd). See Upstart HowTo or man 5 init for further information on how to write use/write an Upstart service.

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/upstart/roslaunch2-pyro-name-server.conf and fix the path in the last line after exec. The rest should be fine.
  • Once done, copy the file to the default location upstart scripts:
sudo cp $(rospack find roslaunch2)/config/upstart/roslaunch2-pyro-name-server.conf /etc/init/
  • Update list of available upstart jobs: sudo initctl reload-configuration
  • Test if you can run it with: sudo initctl start roslaunch2-pyro-name-server. This should show something like (different PID):

roslaunch2-pyro-name-server start/running, process 5114

  • Then either sudo initctl status roslaunch2-pyro-name-server or sudo initctl list should show the same entry. Note that those commands without sudo only show a subset of jobs, apparently without our roslaunch2-pyro-name-server.
  • Reboot and check if the server is running:
sudo reboot
# After reboot:
ps aux | grep Pyro4\.naming

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/upstart/roslaunch2-server.conf according to your system configuration (path).

  • Depending on whether you are on a system with a PyRO name server (and its associated upstart job file) or not, you need to choose one of the following start options in roslaunch2-server.conf.

    On systems with a PyRO name server use:

# Start after RyRO name server is available
start on started roslaunch2-pyro-name-server

Otherwise use:

# Start after networking is available
start on started network-services

The respectively other line can be commented out or deleted.

  • Then, type:
sudo cp $(rospack find roslaunch2)/config/upstart/roslaunch2-server.conf /etc/init/
sudo initctl reload-configuration
sudo initctl start roslaunch2-server
sudo reboot
# After reboot:
ps aux | grep roslaunch2_server