Feat/rowzaw/daemonize hearts (#92)

* daemonize hearts with systemd - cbs daemonized

* onboard unit file added

* some cbs cleanup

* setup script update

Author: Roozki

setup_scripts/env_source.sh

@@ -0,0 +1,4 @@
+# this is for daemons and startup stuff. Assume no enviroment before this.
+source /opt/ros/humble/setup.bash
+source /home/${USER}/RoverFlake2/install/setup.bash
+source /home/${USER}/RoverFlake2/network_stuff/cyclonedds_env.sh

setup_scripts/systemd_unit_files/how_to_install_these.md

@@ -0,0 +1,7 @@
+copy files to /etc/systemd/system/
+
+then 
+
+sudo systemctl daemon-reload
+sudo systemctl enable your_service_file.service
+sudo systemctl start your_service_file.service

setup_scripts/systemd_unit_files/rover_heart_cbs.service

@@ -0,0 +1,28 @@
+[Unit]
+Description=Rover: Control Base Heart Daemon 
+After=network.target
+
+[Service]
+Type=simple
+User=rv
+
+ExecStart=/bin/bash -c ' \
+	source /opt/ros/humble/setup.bash && \
+	source /home/rv/RoverFlake2/network_stuff/cyclonedds_env.sh && \
+	source /home/rv/RoverFlake2/install/setup.bash && \
+	exec ros2 launch rover_manager heart_start_control_base.launch.py \
+'
+
+WorkingDirectory=/home/rv/RoverFlake2
+Restart=always
+RestartSec=5
+
+# make sure children cant escape. Kill entire process tree, not just the parent.
+KillMode=control-group
+TimeoutStopSec=10
+
+[Install]
+WantedBy=multi-user.target
+
+
+

setup_scripts/systemd_unit_files/rover_heart_onboard_nuc.service

@@ -0,0 +1,28 @@
+[Unit]
+Description=Rover: Control Base Heart Daemon 
+After=network.target
+
+[Service]
+Type=simple
+User=rv
+
+ExecStart=/bin/bash -c ' \
+	source /opt/ros/humble/setup.bash && \
+	source /home/rv/RoverFlake2/network_stuff/cyclonedds_env.sh && \
+	source /home/rv/RoverFlake2/install/setup.bash && \
+	exec ros2 launch rover_manager heart_start_on_board_nuc.launch.py \
+'
+
+WorkingDirectory=/home/rv/RoverFlake2
+Restart=always
+RestartSec=5
+
+# make sure children cant escape. Kill entire process tree, not just the parent.
+KillMode=control-group
+TimeoutStopSec=10
+
+[Install]
+WantedBy=multi-user.target
+
+
+

src/rover_manager/config/heart.yaml

@@ -12,6 +12,10 @@
 #! DO NOT REUSE SUBSYSTEM NAMES UNLESS YOU NEED THE SAME SUBSYSTEM RUN ON MULTIPLE MACHINES
 
 #? You do not have to rebuild when making changes to this file - these params are checked when the nodes are launched. However if in doubt, clean and rebuild
+#! However, you must restart the heart daemons for changes to take effect
+#?    -> sudo systemctl daemon-reload
+#?    -> sudo systemctl restart rover_heart_<press tab here to figure out what the service name is>.service 
+#? OR, just restart computer.
 
 /dashboard_hmi_node:
   ros__parameters:

src/rover_manager/launch/cbs_system_bringup.launch.py

@@ -7,6 +7,8 @@
 from launch.substitutions import ThisLaunchFileDir
 from ament_index_python.packages import get_package_share_directory
 
+# Dont start the heart from here, heart is daemonized
+
 def generate_launch_description():
     # sensor_launch = IncludeLaunchDescription(
     #     PythonLaunchDescriptionSource([

src/rover_manager/screenScripts/cb_env_variables.sh

@@ -5,15 +5,15 @@ export cb_REFRESH_RATE=59.94
 
 # For usb c nuc "sucs"
 #middle screen
-export cb_MIDDLE_SCREEN_ID=DP-1
+export cb_MIDDLE_SCREEN_ID=DP-2-8
 export cb_MIDDLE_SCREEN_RES=1920x1080
 
 #left screen
 export cb_LEFT_SCREEN_ID=DP-2-9
 export cb_LEFT_SCREEN_RES=1920x1080
 
 #right screen
-export cb_RIGHT_SCREEN_ID=DP-2-8
+export cb_RIGHT_SCREEN_ID=DP-1
 export cb_RIGHT_SCREEN_RES=1920x1080
 
 export cb_scripts_PATH="${HOME}/RoverFlake2/src/rover_manager/screenScripts"