8.2 One‑Click Startup

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8.2.1 One‑Click Startup Function

warning

For manual one‑click startup, make sure the auto‑start service (proc_manager.service) has been disabled and stopped in advance (run ps -ef | grep ros to check whether any ROS‑related processes are running; if so, terminate them).

Manually start the process manager:

Walker Tienkung

cd ros2ws
source install/setup.bash
ros2 launch proc_manager tg2.0_lite.launch.py

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cd ros2ws
source install/setup.bash
ros2 launch proc_manager tg2.0_plus.launch.py

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cd ros2ws
source install/setup.bash
ros2 launch proc_manager tg2.0_pro.launch.py

8.2.2 Enabling / Disabling Auto‑Start

The auto‑start function is enabled by default. Use the following commands to enable or disable the auto‑start service:

1. Enable auto‑start:

   sudo systemctl enable proc_manager.service

2. Disable auto‑start:

   sudo systemctl disable proc_manager.service

8.2.3 Service Startup Configuration Description

The auto‑start service is configured as follows. The configuration file is located at:
/home/ubuntu/rosws/install/share/diagnose/param/proc_manager.json, defined as:

1. config (global configuration parameters):

   {
     "config": {
       "audio_player": "192.168.41.2",      // Voice playback device is on 192.168.41.2 (Orin)
       "audio_path": "/home/nvidia/data/speech", // Directory of audio files for playback
       "audio_list": ["0.mp3", "1.mp3", "2.mp3", "3.mp3", "4.mp3"] // List of audio files controlled by the remote controller
     },
     ...
   }

2. proc (service processes):

   {
     ...
     "proc": [
       {
         "name": "power_board",                 // Service name
         "enable": true,                        // true: enabled; false: ignored
         "shell": "roslaunch power_board power_board.launch", // Command to launch the service
         "boot_start": true,                    // Whether to start automatically at boot
         "ready_topic": "power_board_state"     // Topic indicating the 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"
       }
     ],
     ...
   }