GISNav systemd service

This page describes how to use the gisnav.service systemd service that is included with the Debian package.

The service is intended to be installed on a dedicated companion computer where GISNav is required to start automatically when the board is powered on. The service does not build images, it only creates a new container from an existing image if no container is available.

Install

Install the service by installing the Debian package.

Enable on startup Optional

The service is disabled by default. Enable it with the following command:

Warning: Resource constrained systems

Assuming you are installing this on a resource constrained companion computer, enabling the gisnav.service on startup will slow down your system.

sudo systemctl enable gisnav.service

Disable

The following command disables the service on startup:

sudo systemctl disable gisnav.service

Start

Once enabled, the gisnav.service should start automatically when the system is started. Restart the system or start the gisnav service manually with the following command:

sudo systemctl start gisnav.service

Stop

sudo systemctl stop gisnav.service

Check status

The below example shows how you can check that the gisnav service is active:

hmakelin@hmakelin-MS-7D48:~$ sudo systemctl status gisnav.service
● gisnav.service - GISNav Docker Compose Services
     Loaded: loaded (/etc/systemd/system/gisnav.service; enabled; vendor preset: enabled)
     Active: active (exited) since Wed 2024-05-15 15:10:21 BST; 3min 35s ago
   Main PID: 241948 (code=exited, status=0/SUCCESS)
        CPU: 354ms

May 15 15:10:18 hmakelin-MS-7D48 docker[241971]:  Container gisnav-mavros-1  Started
May 15 15:10:18 hmakelin-MS-7D48 docker[241971]:  Container gisnav-gscam-1  Started
May 15 15:10:18 hmakelin-MS-7D48 docker[241971]:  Container gisnav-micro-ros-agent-1  Started
May 15 15:10:18 hmakelin-MS-7D48 docker[241971]:  Container gisnav-px4-1  Starting
May 15 15:10:18 hmakelin-MS-7D48 docker[241971]:  Container gisnav-mapserver-1  Started
May 15 15:10:19 hmakelin-MS-7D48 docker[241971]:  Container gisnav-postgres-1  Started
May 15 15:10:20 hmakelin-MS-7D48 docker[241971]:  Container gisnav-px4-1  Started
May 15 15:10:20 hmakelin-MS-7D48 docker[241971]:  Container gisnav-gisnav-1  Starting
May 15 15:10:21 hmakelin-MS-7D48 docker[241971]:  Container gisnav-gisnav-1  Started
May 15 15:10:21 hmakelin-MS-7D48 systemd[1]: Finished GISNav Docker Compose Services.