Saqr — Auto-start on boot

How to make saqr_g1_bridge.py run automatically on every boot of the Unitree G1 (Jetson), via systemd + start_saqr.sh.

Files involved

File	Role
`~/Saqr/saqr_g1_bridge.py`	The bridge process (DDS + TTS + R2+X/R2+Y trigger loop).
`~/Saqr/start_saqr.sh`	Bash launcher: sources conda, activates `marcus`, `cd ~/Saqr`, exec the bridge with the right flags.
`~/Saqr/saqr-bridge.service`	systemd unit that runs `start_saqr.sh` as user `unitree` on every boot, restarts on failure, logs to journalctl.

One-time install

Run these on the robot:

# 1. Make sure the launcher is executable.
chmod +x ~/Saqr/start_saqr.sh

# 2. Install the systemd unit system-wide so it starts at BOOT
#    (not just at login).
sudo cp ~/Saqr/saqr-bridge.service /etc/systemd/system/
sudo systemctl daemon-reload

# 3. Enable + start it now.
sudo systemctl enable --now saqr-bridge

# 4. Verify it came up.
sudo systemctl status saqr-bridge

You should hear "Saqr is running. Press R2 plus X to start." on the robot speaker within ~10 seconds. From then on, every reboot auto-starts the bridge — no terminal needed.

Daily commands

# Follow the live bridge log (replaces the terminal you used to ssh into).
journalctl -u saqr-bridge -f

# Stop / start / restart on demand.
sudo systemctl restart saqr-bridge
sudo systemctl stop saqr-bridge
sudo systemctl start saqr-bridge

# Disable auto-start at boot (the service stays installed).
sudo systemctl disable saqr-bridge

# Re-enable auto-start at boot.
sudo systemctl enable saqr-bridge

# Show the most recent 100 log lines (e.g. after a reboot).
journalctl -u saqr-bridge -n 100 --no-pager

# Show only this boot's logs.
journalctl -u saqr-bridge -b

⚠️ Don't run two bridges at once

Once the systemd service is enabled, the bridge is already running in the background. If you also run ./start_saqr.sh in a terminal you'll have two bridges fighting over the same DDS clients (you'll see lines like R2+X pressed -> start saqr immediately followed by start ignored — saqr already running, because both bridges react to the same wireless-remote events).

Pick one mode:

# Production: let systemd own the bridge.
sudo systemctl start saqr-bridge
journalctl -u saqr-bridge -f

# Dev / debugging: stop the systemd one first, then run by hand.
sudo systemctl stop saqr-bridge
~/Saqr/start_saqr.sh

Quick reboot test

sudo reboot

# After the robot is back up:
ssh unitree@192.168.123.164
sudo systemctl status saqr-bridge     # should be "active (running)"
journalctl -u saqr-bridge -n 50       # boot log including the
                                      # "Saqr is running" TTS line

Updating the bridge / launcher / unit

After editing any of the three files:

# If you changed start_saqr.sh or saqr_g1_bridge.py:
sudo systemctl restart saqr-bridge

# If you changed saqr-bridge.service itself:
sudo cp ~/Saqr/saqr-bridge.service /etc/systemd/system/
sudo systemctl daemon-reload
sudo systemctl restart saqr-bridge

Configuration overrides

start_saqr.sh reads its config from environment variables, so you can override any of them without editing the script. Defaults:

Variable	Default	Meaning
`SAQR_DIR`	`$HOME/Saqr`	Where `saqr_g1_bridge.py` lives.
`CONDA_ROOT`	`$HOME/miniconda3`	Miniconda install path.
`CONDA_ENV`	`marcus`	Conda env that has `unitree_sdk2py`, `ultralytics`, `pyrealsense2`.
`DDS_IFACE`	`eth0`	DDS network interface for the G1.
`SAQR_SOURCE`	`realsense`	`--source` passed to saqr (`realsense` / `/dev/video2` / `0`).
`STREAM_PORT`	`8080`	MJPEG stream port (`-- --stream $STREAM_PORT`).

To override permanently in the systemd service, add Environment= lines to /etc/systemd/system/saqr-bridge.service and run sudo systemctl daemon-reload && sudo systemctl restart saqr-bridge. Example:

Environment=SAQR_SOURCE=/dev/video2
Environment=STREAM_PORT=9090

Troubleshooting

Service won't start

sudo systemctl status saqr-bridge
journalctl -u saqr-bridge -n 100 --no-pager

Common causes:

start_saqr.sh not executable → chmod +x ~/Saqr/start_saqr.sh
conda env name wrong → check CONDA_ENV
unitree_sdk2py missing in the env → run ~/Saqr/start_saqr.sh by hand to see the import error
DDS interface wrong → set DDS_IFACE=enp... if the G1 isn't on eth0

"No device connected" when pressing R2+X

The RealSense USB hiccup. The bridge stays alive and announces "Camera not connected. Please plug in the camera and try again." — just unplug/replug the camera and press R2+X again. If it persists, fall back to the V4L2 path:

sudo systemctl edit saqr-bridge
# add:
[Service]
Environment=SAQR_SOURCE=/dev/video2
# save, then:
sudo systemctl restart saqr-bridge

Bridge is running twice

ps -ef | grep saqr_g1_bridge
# If you see two python processes, kill the manual one and let systemd own it:
sudo systemctl restart saqr-bridge

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