administrator/rov-autonomy
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity
451c2c353f
rov-autonomy/deploy/README.md
Grant du Toit 97decac205 Add deploy/ folder — systemd units and launch wrappers 
- 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)
2026-07-05 15:50:42 +00:00

2.8 KiB
Raw Blame History

Argonaut 3 — Deploy Files

This folder contains the systemd unit files and launch wrappers that live OUTSIDE the ROS2 workspace on RPi5, version-controlled here so they are recoverable. The files in this folder are copies — the authoritative running copies are at the deploy locations noted below.

Files

Repo file Deploy location on RPi5 Purpose
argonaut.service /etc/systemd/system/argonaut.service Autonomy stack service unit
argonaut-stack.sh /usr/local/bin/argonaut-stack.sh (chmod +x) Autonomy stack launch wrapper
argonaut-api.service /etc/systemd/system/argonaut-api.service FastAPI backend service unit
argonaut-api.sh /usr/local/bin/argonaut-api.sh (chmod +x) FastAPI backend launch wrapper

Also required (NOT stored here — contains environment specifics): /etc/argonaut/rov.env — EnvironmentFile for argonaut.service:

ENV=dev
BLUEOS_IP=192.168.1.100
RECORD=true

Python dependencies (RPi5)

The FastAPI backend (rov_api) requires fastapi and uvicorn installed system-wide so they resolve regardless of which user runs the service:

sudo pip3 install fastapi uvicorn --break-system-packages --ignore-installed typing_extensions

The --ignore-installed typing_extensions flag is required because the Debian-managed typing_extensions package has no pip RECORD file and cannot be uninstalled by pip; ignoring it lets the install complete while leaving the Debian package in place.

Confirmed working versions: fastapi 0.139.0, uvicorn 0.50.0.

Install / re-deploy procedure

From this repo folder on RPi5:

sudo cp deploy/argonaut.service      /etc/systemd/system/argonaut.service
sudo cp deploy/argonaut-api.service  /etc/systemd/system/argonaut-api.service
sudo cp deploy/argonaut-stack.sh     /usr/local/bin/argonaut-stack.sh
sudo cp deploy/argonaut-api.sh       /usr/local/bin/argonaut-api.sh
sudo chmod +x /usr/local/bin/argonaut-stack.sh /usr/local/bin/argonaut-api.sh
sudo systemctl daemon-reload

Service management

DEV POLICY: both services are installed but NOT enabled-on-boot. Start manually (verify BlueOS heartbeat before starting the stack):

sudo systemctl start argonaut.service
sudo systemctl start argonaut-api.service

Field readiness — enable on boot only when field-ready:

sudo systemctl enable argonaut.service
sudo systemctl enable argonaut-api.service

Notes

  • /home/ubuntu/ros2_ws is a symlink to /data/ros2_ws (NVMe data drive). Both wrappers rely on this — do not remove the symlink.
  • argonaut-api.service orders After=argonaut.service but does not Require it, so the API can start independently for /health checks. Mission commands return a clear "service unavailable" error if the stack is down.