cd /etc/systemd/system

vim realsense.service

Paste this text in file realsense.service

---

[Unit]

Description=ROS 2 Run Realsense Camera Node

After=network.target

[Service]

Type=simple

Environment="SHELL=/bin/bash"

Environment="HOME=/home/orange-pi"

ExecStart=/usr/bin/bash -c 'source /opt/ros/humble/setup.bash; source /home/orange-pi/ros2_ws/install/setup.bash; ros2 run realsense2_camera realsense2_camera_node'

Restart=on-failure

User=orange-pi

WorkingDirectory=/home/orange-pi

[Install]

WantedBy=multi-user.target

---

Paste this text in file auto_control.service

---

[Unit]

Description=ROS 2 Run Auto Control

After=network.target

[Service]

Type=simple

Environment="SHELL=/bin/bash"

Environment="HOME=/home/ubuntu"

ExecStart=/usr/bin/bash -c 'source /opt/ros/humble/setup.bash; source /home/ubuntu/ros2_ws/install/setup.bash; ros2 run mobile_base_unit wandering'

Restart=on-failure

User=ubuntu

WorkingDirectory=/home/ubuntu

[Install]

WantedBy=multi-user.target

---

Paste this text in file manual_control.service

---

[Unit]

Description=ROS 2 Run Manual Control

After=network.target

[Service]

Type=simple

Environment="SHELL=/bin/bash"

Environment="HOME=/home/orange-pi"

ExecStart=/usr/bin/bash -c 'source /opt/ros/humble/setup.bash; source /home/orange-pi/ros2_ws/install/setup.bash; ros2 launch barra_description joystick.launch.py'

Restart=on-failure

User=orange-pi

WorkingDirectory=/home/orange-pi

[Install]

WantedBy=multi-user.target

---

Paste this text in file mobile_base.service

---

[Unit]

Description=ROS 2 Run mobile_base

After=network.target

[Service]

Type=simple

Environment="SHELL=/bin/bash"

Environment="HOME=/home/kraft"

Environment="PYTHONPATH=/home/kraft/PyVESC/src:$PYTHONPATH"

ExecStart=/usr/bin/bash -c 'source /opt/ros/humble/setup.bash && source /home/kraft/ros2_ws/install/setup.bash && exec ros2 run mobile_base_unit mobile_base >> /home/kraft/mobile_base.log 2>&1'

Restart=on-failure

User=kraft

WorkingDirectory=/home/kraft

[Install]

WantedBy=multi-user.target

---

Paste this text in file pigpiod.service

---

[Unit]

Description=Pigpio daemon

After=network.target

[Service]

Type=forking

ExecStart=/usr/local/bin/pigpiod

User=root

Restart=on-failure

[Install]

WantedBy=multi-user.target

---

sudo systemctl daemon-reload

sudo systemctl start realsense.service

sudo systemctl status realsense.service

sudo systemctl stop realsense.service

Enable start by boot system

sudo systemctl enable realsense.service

Run VPN client

cd /etc/systemd/system

vim vpn_on.service

[Unit]

Description=On VPN service

After=network.target

[Service]

ExecStart=/usr/bin/bash -c 'wg-quick up /etc/wireguard/wg0.conf'

ExecStop=/usr/bin/bash -c 'wg-quick down /etc/wireguard/wg0.conf'

Restart=on-failure

RestartSec=5

[Install]

WantedBy=multi-user.target

on robot Boris

[Unit]

Description=On VPN service

After=network.target

[Service]

ExecStart=/usr/bin/bash -c 'wg-quick up /etc/wireguard/wg0.conf'

Restart=on-failure

RestartSec=5

[Install]

WantedBy=multi-user.target

Change

sudo chmod 600 /etc/wireguard/wg0.conf

sudo chown root:root /etc/wireguard/wg0.conf

sudo systemctl daemon-reload

sudo systemctl start vpn_on.service

sudo systemctl status vpn_on.service

Enable start by boot system

sudo systemctl enable vpn_on.service

For disable

sudo systemctl disable vpn_on.service