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clearpathrobotics / robot_upstart

ROS package of helper functions related to bringing up roslaunch on system startup.
BSD 3-Clause "New" or "Revised" License
196 stars 96 forks source link

Kinetic package? #37

Closed chrisspen closed 7 years ago

chrisspen commented 8 years ago

I noticed there's no ros-kinetic-robot-upstart package in the Kinetic release. This is unfortunate, because I found this project quite useful in previous releases. Is this project now dead?

mikepurvis commented 8 years ago

Hi @chrisspen— nope, not dead. If you could test from source and confirm that the generated upstart job still works under Xenial's upstart-systemd adapter, that would definitely allow the release to proceed.

The ideal would be to supply a "provider" that creates a native systemd unit, and then some logic to intelligently select the default provider based on the current system's pid 1.

chrisspen commented 8 years ago

I would be happy to test. How would I install from source? I've only ever used the package, and your help link in the README gives a 404 error. Is it enough to checkout and run python setup.py install or is there anything else I need to do?

http://docs.ros.org/api/robot_upstart/html/

mikepurvis commented 8 years ago

Pull the package into your regular catkin workspace's src directory, build the workspace, and source devel/setup.bash. You should be able to use robot_upstart as if it was installed from apt.

I've corrected the URL in the readme.

chrisspen commented 8 years ago

My target platform is a Raspberry Pi 3, and since there's no stable Xenial image for the Pi 3 yet, I can only test on Raspbian Jessie, but I believe it too has switched to systemd, so the test should be applicable.

For my test project "mybot", I have the file setup.bash that sources all relevant workspaces:

source /opt/ros/kinetic/setup.bash
source /usr/local/mybot/.env/bin/activate
source /usr/local/mybot/src/overlay/devel/setup.bash
source /usr/local/mybot/src/ros/devel/setup.bash

Installation of the robot_upstart package per your instructions went fine.

I was able to successfully install my upstart scrip by doing:

sudo apt-get install upstart
sudo su -
source /usr/local/mybot/src/ros/setup.bash
rosrun robot_upstart install --setup /usr/local/mybot/src/ros/setup.bash --user root --job mybot mybot/launch/all.launch

Note I had to explicitly install the upstart Raspbian package. Without this, the install reports success, but the service commands all fail. Once I installed the upstart package, then these commands all seemed to work:

sudo service mybot status
sudo service mybot stop
sudo service mybot start
sudo service mybot restart

However, the one error I noticed is that my service does not appear in the list generated by sudo service --status-all, as it did in Ubuntu 14.

mikepurvis commented 8 years ago

We should support Xenial/Jessie without requiring that users of those platforms downgrade from systemd back to upstart, by creating a new subclass in this file:

https://github.com/clearpathrobotics/robot_upstart/blob/jade-devel/src/robot_upstart/providers.py#L75

And then ideally the following default param should be changed to some kind of smarter detection scheme:

https://github.com/clearpathrobotics/robot_upstart/blob/jade-devel/src/robot_upstart/job.py#L140

That said, detecting your init system is a hairy problem in itself: http://unix.stackexchange.com/questions/196166/how-to-find-out-if-a-system-uses-sysv-upstart-or-systemd-initsystem

Pinging @ibaranov-cp and @tonybaltovski who I know are interested in this as well.

chrisspen commented 8 years ago

Ok, let me know if you need any more help testing, but this goes outside of my realm of expertise. In the meantime I'll have to drop this package and go with alternatives.

quattrinili commented 7 years ago

I tried to use it on Ubuntu 16.04 with ROS kinetic, by using the current source code, trying to use the provider option. However, while launching the executable doesn't throw any error and everything seems to work fine, service --status-all doesn't show the new service in the list and indeed using service to start the service does not work.

I don't have time right now to debug the problem, but when I have time, I will try to provide some input if the problem still persists.

paulbovbel commented 7 years ago

Confirmed that under xenial, provider defaults to systemd, and installed job works as expected. Ready to go!

@quattrinili I'm not sure what kind of compatibility layer exists in Ubuntu for the legacy service command, but using systemd systemctl to interact with the generated robot.service or similar works as expected under xenial.

mikepurvis commented 7 years ago

Fantastic, thanks @paulbovbel.

Should this be a new kinetic-devel branch and a 0.3.0 version number, or is it sufficient to tag 0.2.1 and release that to Jade and Kinetic together?

paulbovbel commented 7 years ago

just a new tag makes sense..

mikepurvis commented 7 years ago

https://github.com/ros/rosdistro/pull/13433 https://github.com/ros/rosdistro/pull/13434

paulbovbel commented 7 years ago

Thanks Mike!

chrisspen commented 7 years ago

Do you know when this will be available on the ROS repo? apt-cache search ros-kinetic-robot-upstart doesn't show anything.

mikepurvis commented 7 years ago

@chrisspen It's in shadow now, so you can get it from there now, see: http://wiki.ros.org/ShadowRepository

See also the status page here: http://repositories.ros.org/status_page/ros_kinetic_default.html?q=robot_upstart

I'm not sure when the next sync to public will be, but the place for that discussions is here: https://discourse.ros.org/c/release