170 lines
4.8 KiB
Markdown
170 lines
4.8 KiB
Markdown
# Saqr — Auto-start on boot
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How to auto-start `saqr.robot.bridge` on every boot of the Unitree G1
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(Jetson), via `systemd` + `scripts/start_saqr.sh`.
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---
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## Files involved
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| File | Role |
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|------|------|
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| `~/Saqr/saqr/robot/bridge.py` | The bridge process (DDS + TTS + R2+X/R2+Y trigger loop). Entry point: `python -m saqr.robot.bridge`. |
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| `~/Saqr/scripts/start_saqr.sh` | Bash launcher: sources conda, activates `marcus`, `cd ~/Saqr`, exec the bridge with the production flags. |
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| `~/Saqr/scripts/saqr-bridge.service` | systemd unit that runs `start_saqr.sh` as user `unitree` on every boot, restarts on failure, logs to journalctl. |
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---
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## One-time install
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Run these on the robot:
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```bash
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# 1. Make sure the launcher is executable.
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chmod +x ~/Saqr/scripts/start_saqr.sh
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# 2. Install the systemd unit system-wide so it starts at BOOT
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# (not just at login).
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sudo cp ~/Saqr/scripts/saqr-bridge.service /etc/systemd/system/
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sudo systemctl daemon-reload
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# 3. Enable + start it now.
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sudo systemctl enable --now saqr-bridge
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# 4. Verify it came up.
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sudo systemctl status saqr-bridge
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```
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You should hear **"Saqr is running. Press R2 plus X to start."** on the
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robot speaker within ~10 seconds. From then on, every reboot auto-starts
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the bridge — no terminal needed.
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---
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## Daily commands
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```bash
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journalctl -u saqr-bridge -f # follow live log
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sudo systemctl restart saqr-bridge
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sudo systemctl stop saqr-bridge
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sudo systemctl start saqr-bridge
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sudo systemctl disable saqr-bridge # stop auto-starting at boot
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sudo systemctl enable saqr-bridge
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journalctl -u saqr-bridge -n 100 --no-pager # last 100 lines
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journalctl -u saqr-bridge -b # only this boot's logs
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```
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---
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## ⚠️ Don't run two bridges at once
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Once the systemd service is enabled, the bridge is **already running** in
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the background. If you also run `scripts/start_saqr.sh` in a terminal you'll
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have two bridges fighting over the same DDS clients (`R2+X pressed -> start saqr`
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followed immediately by `start ignored — saqr already running`).
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Pick one mode:
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```bash
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# Production: let systemd own the bridge.
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sudo systemctl start saqr-bridge
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journalctl -u saqr-bridge -f
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# Dev / debugging: stop the systemd one first.
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sudo systemctl stop saqr-bridge
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~/Saqr/scripts/start_saqr.sh
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```
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---
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## Quick reboot test
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```bash
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sudo reboot
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ssh unitree@192.168.123.164
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sudo systemctl status saqr-bridge # should be "active (running)"
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journalctl -u saqr-bridge -n 50 # includes the "Saqr is running" TTS
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```
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---
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## Updating the bridge / launcher / unit
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```bash
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# If you changed start_saqr.sh or anything in saqr/:
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sudo systemctl restart saqr-bridge
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# If you changed saqr-bridge.service itself:
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sudo cp ~/Saqr/scripts/saqr-bridge.service /etc/systemd/system/
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sudo systemctl daemon-reload
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sudo systemctl restart saqr-bridge
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```
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---
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## Configuration overrides
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`start_saqr.sh` reads its config from environment variables, so you can
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override any of them without editing the script. Defaults:
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| Variable | Default | Meaning |
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|---------------|----------------------|---------|
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| `SAQR_DIR` | *(parent of `scripts/`)* | Project root on the robot. |
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| `CONDA_ROOT` | `$HOME/miniconda3` | Miniconda install path. |
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| `CONDA_ENV` | `marcus` | Conda env with `unitree_sdk2py`, `ultralytics`, `pyrealsense2`. |
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| `DDS_IFACE` | `eth0` | DDS network interface. |
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| `SAQR_SOURCE` | `realsense` | `--source` passed to saqr. |
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| `STREAM_PORT` | `8080` | MJPEG stream port (`-- --stream $STREAM_PORT`). |
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To override permanently in systemd, add `Environment=` lines to
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`/etc/systemd/system/saqr-bridge.service`:
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```ini
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Environment=SAQR_SOURCE=/dev/video2
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Environment=STREAM_PORT=9090
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```
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Then `sudo systemctl daemon-reload && sudo systemctl restart saqr-bridge`.
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---
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## Troubleshooting
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### Service won't start
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```bash
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sudo systemctl status saqr-bridge
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journalctl -u saqr-bridge -n 100 --no-pager
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```
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Common causes:
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- `scripts/start_saqr.sh` not executable → `chmod +x ~/Saqr/scripts/start_saqr.sh`
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- conda env name wrong → check `CONDA_ENV`
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- `saqr` package not installed → `cd ~/Saqr && pip install -e .`
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- `unitree_sdk2py` missing in the env → run `scripts/start_saqr.sh` by hand to see the import error
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- DDS interface wrong → set `DDS_IFACE=enp...` if the G1 isn't on `eth0`
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### "No device connected" when pressing R2+X
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The RealSense USB hiccup. The bridge stays alive and announces
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**"Camera not connected. Please plug in the camera and try again."** —
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just unplug/replug the camera and press R2+X again. If it persists, fall
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back to the V4L2 path by editing the systemd unit:
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```bash
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sudo systemctl edit saqr-bridge
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# add:
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[Service]
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Environment=SAQR_SOURCE=/dev/video2
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# save, then:
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sudo systemctl restart saqr-bridge
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```
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### Bridge is running twice
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```bash
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ps -ef | grep "saqr.robot.bridge"
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sudo systemctl restart saqr-bridge
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```
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