ros-system-daemon
This package provides functionality for automatically starting and stopping ROS, including a facility for re-launching the daemon job as your own user.
ROS System User
Username: ros
Home Directory: /var/lib/ros
Group: ros
Shell: /bin/sh
ros should be a member of group dialout in order to access serial ports.
chown -R ros:ros /var/lib/ros
chmod 2775 /var/lib/ros
ROS Log Dir: /var/log/ros
ROS PID: /var/run/ros/roscore.pid
Startup and shutdown
Startup and shutdown is controlled by an upstart job.
sudo service start ros
sudo service stop ros
You can disable start on boot by:
echo manual | sudo tee /etc/init/ros.override
When the service is started, the default configuration is to launch ROS as user ros
with the following setup:
source /etc/ros/setup.sh
source /etc/ros/envvars
export ROS_HOSTNAME=${HOSTNAME}
roslaunch /etc/ros/robot.launch
The files /etc/ros/setup.sh
and /etc/ros/robot.launch
are symlinks controlled by update-alternatives.
You can load setup scripts and launchers like so:
update-alternatives --install /etc/ros/setup.sh ros-setup ${HOME}/my_catkin_ws/devel/setup.sh 20
update-alternatives --install /etc/ros/robot.launch ros-robot-launch ${HOME}/my_robot.launch 20
You can view what scripts and launchers are available with:
update-alternatives --list ros-setup
update-alternatives --list ros-robot-launch
And change the currently selected alternave with:
update-alternatives --config ros-setup
update-alternatives --config ros-robot-launch
System-wide Logging
ROS_LOG_DIR=/var/log/ros
for the background daemon job. This path is owned by the ros user and group.
ros-system-daemon.ros.logrotate
- Config file
/etc/logrotate.d/ros
- Rotate logs daily *.log -> *.log.1 -> *.log.2 -> etc
- Compress the previous days logs daily *.log.2 -> *.log.2.gz
- Keep up to one weeks logs for an active rosmaster
- Archive inactive log subdirectories daily
- Remove archived logs older than one week
- Rotation currently done by copying and truncating the active log
Note: 01 Jan 2013 Sending SIGHUP to ROS does not cause it to write to a new log.
ros/ros_comm#45
Files
/usr/sbin/rosctl
Modelled after apachectl
, this script allows ros to be started
locally by users or system-wide by user ros.
If rosctl
is run as user ros it will attempt to launch /etc/ros/robot.launch
or the launch file specified in ROS_LAUNCH
if it exists.
If gnome-session
is running, the script will attempt to send desktop notifications via notify-send
to the user that is logged in when ROS starts or stops.
Sub-commands
- start Start ROS (roscore + default launch file)
- stop Stop ROS (rosnode kill nodes then killall roslaunch)
- restart Start followed by Stop
- status Display the PID and user running ROS
In the near future running this as script as root will check/repair directory permissions and re-run itself setuidgid ros. Also, when run as root it should issue a warning and run initctl stop ros
to prevent upstart from respawning. It may also be worth issuing a warning when run as ros and initctl status ros
shows that upstart will respawn the process.
/etc/ros/envvars
The intent is that may be parsed and edited by hardware vendor install scripts; a place to put customizations which does not require editing setup.bash.
Special Thanks
The program rosctl
was inspired by apachectl
Package was influenced by the alternate approach used by
Thomas Moulard on ros_comm_upstart
Bill Morris on Turtlebot-Mfg