helywin / supervisor

ros进程启动管理

说明

进程管理工具，能够根据配置文件自动启动进程，通过udp发送json控制命令可以控制批量启动关闭进程

配置文件模板

见caller_table.json

协议

协议通过udp报文传输json控制命令

33496

{
  "mode_name": "mode_com",
  "enable": true
}

模拟报文发送

echo "{\"mode_name\":\"mode_1\",\"enable\":true}" | nc -u 127.0.0.1 33496

tcp查看工具

sudo tcpdump -i lo -nn -vv -X udp port 33496

systemd

Lastly, we’re going to see how to run a script with systemd. Similarly to init.d, we need to create a service descriptor – called a unit file – under /etc/systemd/system:

[Unit]
Description=Reboot message systemd service.

[Service]
Type=simple
ExecStart=/bin/bash /home/ec2-user/reboot_message.sh

[Install]
WantedBy=multi-user.target

The file is organized into different sections:

Unit – contains general metadata, like a human-readable description
Service – describes the process and daemonizing behavior, along with the command to start the service
Install – enables the service to run at startup, using the folder specified in WantedBy to handle dependencies

To finish up, we need to set the file permissions to 644 and enable our service by using systemctl:

$ chmod 644 /etc/systemd/system/reboot_message.service
$ systemctl enable reboot_message.service

One thing to keep in mind is that although many major distributions support systemd, it’s not always available.