ros2-systemd-manager 0.1.3

YAML-driven ROS2 systemd service manager

ROS2 Systemd Manager

ROS2 Systemd Manager is a YAML-driven tool to manage ROS2 launch tasks as systemd services.

What It Does

• Bootstrap local files with ros2-systemd-manager init
• Install units with install
• Install + start + enable with apply
• Remove units with uninstall
• Run synchronized update flow with stale-unit cleanup via update
• Regenerate Makefile only with makefile
• Upgrade tool to latest version via upgrade

Installation

Note: This tool is designed for Linux systems with systemd. Ensure you have Python 3 and pip installed. It is recommended to use sudo for installation to allow systemd unit management.

sudo pip install ros2-systemd-manager

CLI

ros2-systemd-manager [action] [--config PATH] [--workspace-key KEY]

Supported actions:

• init
• install
• apply
• uninstall
• update
• makefile
• upgrade

Init Output

Run in an empty directory:

ros2-systemd-manager init

Generated files:

• ./ros2_services.yaml (default configuration)
• ./ros2-systemd-manager.mk (generated makefile targets fragment)
• ./Makefile (entrypoint that includes the .mk file)

Note: The tool places generated makefile targets into ros2-systemd-manager.mk to keep your root Makefile clean. The root Makefile will automatically include the .mk fragment.

YAML Keys

Required:

• systemd
• runtime
• workspaces

Optional:

• actions (default action is apply)
• makefile

Generated Makefile

Primary targets:

make upgrade                  # self-upgrade ros2-systemd-manager via pip
make install                  # install unit files only
make apply                    # install + start + enable
make start                    # systemctl start all configured units
make stop                     # systemctl stop all configured units
make restart                  # systemctl restart all configured units
make status                   # systemctl status all configured units
make status-long              # systemctl status with 100 log lines
make enable                   # systemctl enable all configured units
make disable                  # systemctl disable all configured units
make logs                     # follow logs for all configured units
make logs-recent              # show last 200 log lines for all configured units
make <op>-<service>           # op in start/stop/restart/status/enable/disable/logs
make <op>-<service>-<sfx>     # e.g., logs-<svc>-recent, status-<svc>-long (100 lines)
make uninstall                # uninstall all configured units
make update                   # stop old + uninstall + install/start/enable + refresh mk
make makefile                 # refresh generated mk only (no systemd changes)

Config behavior:

• No hardcoded absolute config path.
• Default auto-discovery strictly looks for ./ros2_services.yaml in the current running directory.
• Override manually via CONFIG environment variable or --config parameter:

make apply CONFIG=./my_services.yaml

File Tracking & Safety

• Automatic Backups: Whenever files in /etc/systemd/system/ are modified (via update, install, or uninstall), a copy of the exact deployed file along with its MD5 hash (and a global hash) is stored in ~/.config/ros2-systemd-manager/previous-update/.
• Modification Detection: During update or uninstall operations, the manager uses filecmp and diff to check if you have manually modified the systemd service file. If modifications are detected, it presents a diff in the terminal and asks if you want to archive your manual changes to ~/.config/ros2-systemd-manager/archive/ before proceeding with the overwrite/deletion.

Safety

• Use trusted launch commands only.
• Validate workspace paths and setup scripts before apply or update.
• Prefer install first for new services.