bash – Using systemd services to launch programs at boot, can view topics/nodes but can’t subscribe

I have a master(Ubuntu18.04+Melodic on Jetson Nano) and slave(Ubuntu 16.04+Kinetic on PC) conected properly. I am able to run ros nodes and have full duplex without any issues when these nodes are launched via terminal.

However, I want to start these nodes on bootup on the master, which I am trying to achieve by creating service. When I run the service, the nodes launch fine and I can echo topics receive messages just fine. However, when I try to echo topics on the slave PC, I get no messages. I am still able to view the topics list and publish to these topics, but can’t receive/echo messages in any topics.

When I run roswtf on PC, I get following errors:

ERROR: Unknown host (ubuntu) for node (/basefootprint_to_laser_broadcaster)
ERROR Could not contact the following nodes: (with all the node names below it)
ERROR The following nodes should be connected but aren't: (with all the node names below it)
ERROR Errors connecting to the following services: (with all service names below)
 * service (/basefootprint_to_laser_broadcaster/set_logger_level) appears to be malfunctioning: Unable to communicate with service (/basefootprint_to_laser_broadcaster/set_logger_level), address (rosrpc://ubuntu:49211)

Posting service and related bash file:

roscore.service (this is same as used by Ubiquity robotics, except that I swapped kinetic by melodic:

(Unit)
After=NetworkManager.service time-sync.target
(Service)
Type=forking
User=ubuntu
# Start roscore as a fork and then wait for the tcp port to be opened
# ----------------------------------------------------------------
# Source all the environment variables, start roscore in a fork
# Since the service type is forking, systemd doesn't mark it as
# 'started' until the original process exits, so we have the 
# non-forked shell wait until it can connect to the tcp opened by
# roscore, and then exit, preventing conflicts with dependant services
ExecStart=/bin/sh -c ". /opt/ros/melodic/setup.sh; . ~/catkin_ws/devel/setup.sh; roscore & while ! echo exit | nc localhost 11311 > /dev/null; do sleep 1; done"
(Install)
WantedBy=multi-user.target

my_minimal.service:

(Unit)
Description=Mybot Minimal
After=roscore.service

(Service)
Type=simple
User=ubuntu
WorkingDirectory=/home/ubuntu
ExecStart=/home/ubuntu/mini.sh
Restart=on-failure

(Install)
WantedBy=multi-user.target

mini.sh:

#!/bin/bash
# trial upstart script
sleep 1
source /opt/ros/melodic/setup.bash
source ~/catkin_ws/devel/setup.bash
roslaunch my_pkg minimal.launch

As per comment of a user on answers.ros.org, it doesn’t work even when both devices are Melodic, so I don’t think the difference ROS versions are causing the issue.
I tried asking it on answers.ros.org but nothing helped(link to that question).
I was told on stackoverflow to ask here. Hope this is not offtopic here.
Any help would be much appreciated, thanks!

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Thunar doesn’t launch in text editor from share

I recently updated to Ubuntu minimal 20.04.

In Thunar, if I right click a text file and select Open With Geany, it opens the file in Geany.
If I do the same thing with a text file on a shared drive, it doesn’t. I just get an empty Geany.

This worked before the update.

Is there a trick to make this work again?

Can we launch a deployment in Kubernetes with time limit if not then is any alternative available?


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When running code from a VSCode integrated terminal using the SSH plugin will however open another VSCode window for that remote folder.

Is it possible to run a command (like code ./foldername) on my SSH connection and have that command do something on the host (e.g. open VSCode)? From a normal terminal window over SSH? Does such a thing exist?

macos – Unable to launch Firefox using Selenium

I installed Python 3.8 on MacOS Mojave (10.14.6) using pyenv. I then installed selenium. There was an issue missing the geckodriver. I then installed the geckodriver. After that I ran the program. google_search.py

Code:

`import unittest
from selenium.webdriver.support import expected_conditions
from selenium import webdriver
from selenium.webdriver.support.ui import WebDriverWait

class GoogleSearch(unittest.TestCase):
def setUp(self):
self.driver = webdriver.Firefox()
self.driver.implicitly_wait(30)
self.base_url = “https://www.google.com/”

def test_google_search(self):
    driver = self.driver
    driver.get(self.base_url)

    element = driver.find_element_by_idname("q")
    element.clear()
    element.send_keys("Selenium testing tools cookbook")
    element.submit()

    WebDriverWait(driver, 30)
        .until(expected_conditions.title_contains("Selenium testing tools cookbook"))
    self.assertEqual(driver.title, "Selenium testing tools cookbook - Google Search")

def tearDown(self):
    self.driver.quit()

if name == “main“:
unittest.main(verbosity=2, warnings=”ignore”)`

I then get the following error message:
Manus-iMac:chapter01 Manu$ cat err1.dat
test_google_search (main.GoogleSearch) … ERROR

======================================================================
ERROR: test_google_search (main.GoogleSearch)

Traceback (most recent call last):
File “google_search.py”, line 9, in setUp
self.driver = webdriver.Firefox()

File “/Users/Manu/.pyenv/versions/3.8.7/lib/python3.8/site-packages/selenium/webdriver/firefox/webdriver.py”, line 170, in init
RemoteWebDriver.init(

File “/Users/Manu/.pyenv/versions/3.8.7/lib/python3.8/site-packages/selenium/webdriver/remote/webdriver.py”, line 157, in init
self.start_session(capabilities, browser_profile)

File “/Users/Manu/.pyenv/versions/3.8.7/lib/python3.8/site-packages/selenium/webdriver/remote/webdriver.py”, line 252, in start_session
response = self.execute(Command.NEW_SESSION, parameters)

File “/Users/Manu/.pyenv/versions/3.8.7/lib/python3.8/site-packages/selenium/webdriver/remote/webdriver.py”, line 321, in execute
self.error_handler.check_response(response)

File “/Users/Manu/.pyenv/versions/3.8.7/lib/python3.8/site-packages/selenium/webdriver/remote/errorhandler.py”, line 242, in check_response

raise exception_class(message, screen, stacktrace)

selenium.common.exceptions.SessionNotCreatedException: Message: Expected browser binary location, but unable to find binary in default location, no ‘moz:firefoxOptions.binary’ capability provided, and no binary flag set on the command line


Ran 1 test in 1.839s

FAILED (errors=1)

——-x———–x———

I am not sure what is going wrong and why? Thanks in advance.