# roscore upstart script

description "roscore service"
author "Gozbenko Alex <gozbenko@gmail.com>"

env ROS_LOG_DIR=/var/log/ros

# When to start the service
start on filesystem on runlevel [2345]

# When to stop the service
stop on runlevel [016]

# Automatically restart process if crashed
respawn

pre-start script
	mkdir -p /var/log/ros/
	chown ros:ros /var/log/ros/

	touch /var/run/roscore.pid
	chmod 644 /var/run/roscore.pid
	chown ros:ros /var/run/roscore.pid
end script

# Specify the process/command to start
script
exec su ros -c "source /opt/ros/electric/setup.sh && roscore --pid=/var/run/roscore.pid"
end script