MMv3 fixes: shutdown motors, disable services, udev orbbec

.gitignore

@@ -2,3 +2,4 @@ build/
 ui/
 *.uf2
 ev3-usb.sh
+.vscode/

install_ROS2.sh

@@ -210,6 +210,9 @@ if [[ $MIRTE_TYPE == "mirte-master" ]]; then
 	cd ../../rplidar_ros
 	chmod +x ./scripts/create_udev_rules.sh || true
 	./scripts/create_udev_rules.sh || true
+	cd /home/mirte/mirte_ws/ || exit 1
+	cd src/orbbecsdk_ros2/ || true
+	sudo ./orbbec_camera/scripts/install_udev_rules.sh || true
 
 fi
 

install_mirte.sh

@@ -117,6 +117,7 @@ sudo apt install -y overlayroot
 } 2>&1 | sed -u 's/^/overlayfs::: /' &
 
 #sudo bash -c "echo 'overlayroot=\"tmpfs\"' >> /etc/overlayroot.conf"
+sudo systemctl disable --now unattended-upgrades.service || true # either no network or do it manually
 
 # update time in /etc/fake-hwclock.data
 sudo fake-hwclock save

install_web.sh

@@ -66,3 +66,4 @@ curl -s https://install.zerotier.com | sudo bash
 sudo rm /var/lib/zerotier-one/identity.public || true
 sudo rm /var/lib/zerotier-one/identity.secret || true
 # new identity should be generated on first boot
+sudo systemctl disable --now zerotier-one.service || true # fails bc not started with systemd

services/mirte_shutdown.sh

@@ -7,16 +7,38 @@ if ! systemctl list-jobs | grep -q -E 'shutdown.target.*start'; then
 	exit
 fi
 
+REBOOT=false
+# if rebooting, then dont shutdown the robot
+if systemctl list-jobs | grep -q -E 'reboot.target.*start'; then
+	echo "reboot target active"
+	REBOOT=true
+fi
+
 source /home/mirte/.bashrc
-source /home/mirte/.mirte_settings
+source /home/mirte/.mirte_settings.sh
 source /home/mirte/mirte_ws/install/setup.bash
 touch /home/mirte/.shutdown
 service=/io/oled/oled/set_text
+shutdown_service=/io/power/power_watcher/shutdown
 if [ "$MIRTE_USE_MULTIROBOT" = "true" ]; then
 	mirte_space=$(cat /etc/hostname | tr '[:upper:]' '[:lower:]' | tr '-' '_')
 	service="/$mirte_space$service"
+	shutdown_service="/$mirte_space$shutdown_service"
 fi
 
-if [ "$(ros2 service list | grep "$service$")" ]; then
+ros2 service list || true # make sure ros2 daemon is running
+ros2 service list || true # make sure ros2 daemon is running
+
+stop_service="/stop"
+if [ "$(ros2 service list | grep "$stop_service$")" ]; then
+	ros2 service call "$stop_service" std_srvs/srv/Empty "{}"
+fi
+
+if [ "$(ros2 service list | grep "$service$")" ] && [ "$REBOOT" = "false" ]; then
 	ros2 service call "$service" mirte_msgs/srv/SetOLEDText "{ text: 'Shutting down...'}"
+	ros2 service call "$shutdown_service" std_srvs/srv/SetBool "{ data: true }"
+fi
+
+if [ "$(ros2 service list | grep "$service$")" ] && [ "$REBOOT" = "true" ]; then
+	ros2 service call "$service" mirte_msgs/srv/SetOLEDText "{ text: 'Rebooting...'}"
 fi