GR00T-WholeBodyControl/systemd/composed_camera_server.service

# 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