File size: 2,920 Bytes
c26f879 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 | # systemd service for the SONIC composed camera server.
#
# Publishes JPEG-encoded camera frames over ZMQ so the data exporter
# (on the workstation) can subscribe and record.
#
# ── Setup ────────────────────────────────────────────────────────
# The install script can generate and install this automatically:
# bash install_scripts/install_camera_server.sh
#
# Or manually:
# 1. Edit USER, HOME, REPO_DIR, and the ExecStart command below.
# 2. Copy to systemd:
# sudo cp systemd/composed_camera_server.service /etc/systemd/system/
# 3. Enable and start:
# sudo systemctl daemon-reload
# sudo systemctl enable composed_camera_server.service
# sudo systemctl start composed_camera_server.service
# 4. Check status:
# sudo systemctl status composed_camera_server.service
# journalctl -u composed_camera_server.service -f
#
# ── Finding your device ID ───────────────────────────────────────
# OAK cameras:
# python -c "import depthai as dai; print(dai.Device.getAllAvailableDevices())"
# RealSense:
# rs-enumerate-devices --short
# USB:
# ls /dev/video* # use the index number, e.g. "0" for /dev/video0
# ─────────────────────────────────────────────────────────────────
[Unit]
Description=SONIC Composed Camera Server (ZMQ)
After=network.target
[Service]
Type=simple
# ── EDIT THESE for your robot ────────────────────────────────────
User=nvidia
Environment="HOME=/home/nvidia"
Environment="REPO_DIR=/home/nvidia/GR00T-WholeBodyControl"
# ─────────────────────────────────────────────────────────────────
WorkingDirectory=${REPO_DIR}
# Edit the ExecStart line to match your camera setup.
# Single ego-view OAK camera (device ID required when multiple OAK devices connected):
ExecStart=${REPO_DIR}/.venv_camera/bin/python -m gear_sonic.camera.composed_camera \
--ego-view-camera oak \
--ego-view-device-id YOUR_MXID_HERE \
--port 5555
# Multi-camera example (ego + wrist cameras):
# ExecStart=${REPO_DIR}/.venv_camera/bin/python -m gear_sonic.camera.composed_camera \
# --ego-view-camera oak --ego-view-device-id EGO_MXID \
# --left-wrist-camera oak --left-wrist-device-id LEFT_MXID \
# --right-wrist-camera oak --right-wrist-device-id RIGHT_MXID \
# --port 5555
Restart=on-failure
RestartSec=5
StandardOutput=journal
StandardError=journal
[Install]
WantedBy=multi-user.target
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