ROS_rpi_systemd

These systemd files are for starting roscore, a real time clock and a shutdown poller on Ubuntu for raspberry pi.

roscore.service - Start roscore when pi starts

rtchwclock.service - Set time from a real time hwclock.

pishutdown.service - Run a python daemon to poll for a shutdown event.

Edit the roscore.default and roscore.service files to set the user, ROS version and directories.

Edit the rtchwclock file to set your i2c device and address in the DEVTYPE and DEVADDR variables. These are currently set for a ds3231 at the address 0x68.

Edit the shutdown_pi.py to set the GPIO pin for polling the shutdown signal. Info of this file can be found at: https://www.element14.com/community/docs/DOC-78055/l/adding-a-shutdown-button-to-the-raspberry-pi-b

Copy the files to /etc:

cd ROS_rpi_systemd

sudo cp *.service *.py /etc/systemd/system

Copy the roscore.default file to /etc/default:

sudo cp roscore.default /etc/default/roscore

Enable the services

systemctl daemon-reload

sudo systemctl enable roscore.service

sudo systemctl enable rtchwclock.service

sudo systemctl enable pishutdown.service

Start the services

sudo systemctl start roscore.service

sudo systemctl start rtchwclock.service

sudo systemctl start pishutdown.service