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ROS 2ノード自動起動がうまくいかない問題に対する修正 #2

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ROS 2ノード自動起動がうまくいかない問題に対する修正 #2

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1 change: 1 addition & 0 deletions service/ros2_launch.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,7 @@
SCRIPTDIR=/home/pi/service/
ENVFILE=/home/pi/ros2_ws/install/local_setup.bash

sudo /usr/sbin/ip link set lo multicast on
echo "Loading ROS2 Env..."
source /opt/ros/humble/setup.bash
source ${ENVFILE}
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3 changes: 2 additions & 1 deletion service/scramble_auto_robot_ros2.service
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Original file line number Diff line number Diff line change
@@ -1,9 +1,10 @@
[Unit]
Description=ROS2 launch
After=local-fs.target
After=local-fs.target network-online.target
ConditionPathExists=/home/pi/service

[Service]
ExecStartPre=/bin/sleep 5
ExecStart=/home/pi/service/ros2_launch.sh
ExecStop=/bin/kill ${MAINPID}
Restart=on-failure
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