8.2 One-Click Startup

8.2.1 One-Click Startup Feature

For manual one-click startup, ensure autostart service (proc_manager.service) is disabled and stopped before starting (check with ps -ef | grep ros for ROS-related processes and kill them if present):

Manually start process manager:

ROS2:

cd ros2ws
source install/setup.bash
ros2 launch proc_manager proc_manager.launch.py

8.2.2 Enable/Disable Autostart

Autostart is disabled by default. Use the following methods to enable or disable:

1. Enable autostart

   sudo systemctl enable proc_manager.service

2. Disable autostart

   sudo systemctl disable proc_manager.service

8.2.3 Service Startup Configuration

Autostart service configuration is as follows. Configuration file location:

/home/ubuntu/rosws/install/share/diagnose/param/proc_manager.json

Defined as:

1. config: (Define global configuration parameters)

   {
     "config": {
       "audio_player": "192.168.41.2", // Define audio playback device at 192.168.41.2 (Orin)
       "audio_path": "/home/nvidia/data/speech", // Define audio playback directory at /home/nvidia/data/speech
       "audio_list": ["0.mp3", "1.mp3", "2.mp3", "3.mp3", "4.mp3"] // Define remote control audio file list
     }
   }

2. proc: (Define service processes)

   {
     "proc": [
       {
         "name": "power_board", // Service name
         "enable": true, // true: active, false: ignored
         "shell": "roslaunch power_board power_board.launch", // shell command to execute
         "boot_start": true, // Auto-start on boot: true: yes, false: no
         "ready_topic": "power_board_state" // Topic indicating service is ready
       }, {
        "name": "usb_sbus",
        "enable": true,
        "shell": "roslaunch usb_sbus usb_sbus.launch",
        "boot_start": true
       }, {
         "name": "body_control",
         "enable": true,
         "shell": "roslaunch body_control body_no_sbus.launch",
         "boot_start": false,
         "ready_topic": "bodycontrol_state",
         "ready_timeout": 20
       }, {
         "name": "motion",
         "enable": true,
         "shell": "roslaunch motion_control motion.launch"
       }
     ]
   }