This folder contains the systemd service units and associated environment variable file that collectively enable the flight software to be launched automatically as an Ubuntu Linux service on boot. Flight software can then be controlled using the systemctl user-space application.

scp astrobee.env astrobee@llp:/res scp *.service /usr/lib/systemd/system ssh astrobee@llp

sudo systemctl daemon-reload sudo systemctl enable fsw sudo systemctl start fsw

              +-----> mlp.service ----> network.target
              |                             |         
        fsw.service-> ros.service ----------+         
           |  |                                       
           |  +-----> eps.service ----------+         
           |                                |         
           +--------> pmc.service ------> res.mount   

Here is what each of the services do:

• mlp.service - blocks until the MLP can be pinged (timeout 60s)
• eps.service - queries the EPS for mode and writes if off-nominal to /res/mode
• pmc.service - queries the PMC to see if the propulation modules are not found
• ros.service - starts rosmaster in --core mode (no logging)
• fsw.service - starts flight software in the existing ROS code