97decac205
- argonaut.service + argonaut-stack.sh (autonomy stack) - argonaut-api.service + argonaut-api.sh (FastAPI backend) - README documents deploy locations, pip dependencies, install procedure - Resolves: systemd/wrapper files were previously not version-controlled - Documents fastapi/uvicorn system-wide install (--ignore-installed typing_extensions)
88 lines
2.8 KiB
Markdown
88 lines
2.8 KiB
Markdown
# Argonaut 3 — Deploy Files
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This folder contains the systemd unit files and launch wrappers that live
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OUTSIDE the ROS2 workspace on RPi5, version-controlled here so they are
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recoverable. The files in this folder are copies — the authoritative
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running copies are at the deploy locations noted below.
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---
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## Files
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| Repo file | Deploy location on RPi5 | Purpose |
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| `argonaut.service` | `/etc/systemd/system/argonaut.service` | Autonomy stack service unit |
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| `argonaut-stack.sh` | `/usr/local/bin/argonaut-stack.sh` (chmod +x) | Autonomy stack launch wrapper |
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| `argonaut-api.service` | `/etc/systemd/system/argonaut-api.service` | FastAPI backend service unit |
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| `argonaut-api.sh` | `/usr/local/bin/argonaut-api.sh` (chmod +x) | FastAPI backend launch wrapper |
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Also required (NOT stored here — contains environment specifics):
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`/etc/argonaut/rov.env` — EnvironmentFile for argonaut.service:
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```
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ENV=dev
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BLUEOS_IP=192.168.1.100
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RECORD=true
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```
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---
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## Python dependencies (RPi5)
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The FastAPI backend (`rov_api`) requires fastapi and uvicorn installed
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system-wide so they resolve regardless of which user runs the service:
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```
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sudo pip3 install fastapi uvicorn --break-system-packages --ignore-installed typing_extensions
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```
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The `--ignore-installed typing_extensions` flag is required because the
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Debian-managed `typing_extensions` package has no pip RECORD file and
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cannot be uninstalled by pip; ignoring it lets the install complete while
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leaving the Debian package in place.
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Confirmed working versions: fastapi 0.139.0, uvicorn 0.50.0.
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---
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## Install / re-deploy procedure
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From this repo folder on RPi5:
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```
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sudo cp deploy/argonaut.service /etc/systemd/system/argonaut.service
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sudo cp deploy/argonaut-api.service /etc/systemd/system/argonaut-api.service
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sudo cp deploy/argonaut-stack.sh /usr/local/bin/argonaut-stack.sh
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sudo cp deploy/argonaut-api.sh /usr/local/bin/argonaut-api.sh
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sudo chmod +x /usr/local/bin/argonaut-stack.sh /usr/local/bin/argonaut-api.sh
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sudo systemctl daemon-reload
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```
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---
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## Service management
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DEV POLICY: both services are installed but NOT enabled-on-boot.
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Start manually (verify BlueOS heartbeat before starting the stack):
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```
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sudo systemctl start argonaut.service
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sudo systemctl start argonaut-api.service
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```
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Field readiness — enable on boot only when field-ready:
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```
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sudo systemctl enable argonaut.service
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sudo systemctl enable argonaut-api.service
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```
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---
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## Notes
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- `/home/ubuntu/ros2_ws` is a symlink to `/data/ros2_ws` (NVMe data drive).
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Both wrappers rely on this — do not remove the symlink.
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- `argonaut-api.service` orders After=argonaut.service but does not Require
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it, so the API can start independently for /health checks. Mission
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commands return a clear "service unavailable" error if the stack is down.
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