This package provides functionality for automatically starting and stopping ROS, including a facility for re-launching the daemon job as your own 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 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
ROS_LOG_DIR=/var/log/ros for the background daemon job. This path is owned by the ros user and group.
- 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
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.
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.
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