add openmower-debug.service

src/modules/openmower/filesystem/root/etc/systemd/system/openmower-debug.service

@@ -0,0 +1,43 @@
+# openmower-debug.service
+# autogenerated by Podman 3.0.1
+
+[Unit]
+Description=Podman container - openmower.service
+Documentation=man:podman-generate-systemd(1)
+Wants=network.target
+After=network-online.target NetworkManager.service
+Conflicts=openmower.service
+StartLimitInterval=120
+StartLimitBurst=10
+
+[Service]
+Environment=PODMAN_SYSTEMD_UNIT=%n
+EnvironmentFile=/boot/openmower/openmower_version.txt
+Type=forking
+Restart=on-failure
+RestartSec=10s
+TimeoutStartSec=1h
+TimeoutStopSec=120s
+
+ExecStartPre=/bin/rm -f %t/container-openmower-debug.pid %t/container-openmower-debug.ctr-id
+
+ExecStart=/usr/bin/podman run --conmon-pidfile %t/container-openmower-debug.pid --cidfile %t/container-openmower-debug.ctr-id --cgroups=no-conmon \
+  --replace --detach --tty --privileged \
+  --name openmower-debug \
+  --network=host \
+  --volume /dev:/dev \
+  --volume /boot/openmower/mower_config.txt:/config/mower_config.sh \
+  --volume /root/ros_home:/root \
+  --label io.containers.autoupdate=image \
+  ghcr.io/clemenselflein/open_mower_ros:releases-${OM_VERSION}
+
+#ExecStartPost=/usr/bin/podman image prune --force --filter image=open_mower_ros
+
+ExecStop=/usr/bin/podman stop --ignore --cidfile %t/container-openmower-debug.ctr-id -t 10
+
+ExecStopPost=/usr/bin/podman rm --ignore --force --cidfile %t/container-openmower-debug.ctr-id
+
+PIDFile=%t/container-openmower-debug.pid
+
+[Install]
+WantedBy=multi-user.target default.target

src/modules/openmower/filesystem/root/etc/systemd/system/openmower.service

@@ -6,6 +6,7 @@ Description=Podman container - openmower.service
 Documentation=man:podman-generate-systemd(1)
 Wants=network.target
 After=network-online.target NetworkManager.service
+Conflicts=openmower-debug.service
 StartLimitInterval=120
 StartLimitBurst=10
 

src/modules/openmower/filesystem/root/home/pi/start_ros-debug_bash.sh

@@ -0,0 +1,5 @@
+#!/bin/bash
+# Starts a bash in the docker container.
+# Use this for ROS specific commands (e.g. rostopic echo)
+
+sudo podman exec -it openmower-debug /openmower_entrypoint.sh /bin/bash