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[Unit]
Description=Micro-XRCE-DDS Agent
After=network.target
[Service]
ExecStart=/usr/local/bin/MicroXRCEAgent serial --dev /dev/ttyUSB0 -b 921600
Restart=always
[Install]
WantedBy=multi-user.target
EOF
sudo tee /etc/systemd/system/mavlink-router.service > /dev/null <<'EOF'
[Unit]
Description=mavlink-router
After=network.target
[Service]
ExecStart=/usr/bin/mavlink-routerd -c /etc/mavlink-router.conf
Restart=always
[Install]
WantedBy=multi-user.target
EOF
sudo tee /etc/mavlink-router.conf > /dev/null <<'EOF'
[General]
TcpServerPort = 0
[UartEndpoint pixhawk]
Device = /dev/ttyUSB1
Baud = 921600
[UdpEndpoint gcs]
Mode = Normal
Address = 0.0.0.0
Port = 14550
[UdpEndpoint bridge]
Mode = Normal
Address = 127.0.0.1
Port = 14542
EOF
sudo tee /etc/systemd/system/line-tracker.service > /dev/null <<'EOF'
[Unit]
Description=Line Tracker node + bridge
After=xrce-agent.service mavlink-router.service
[Service]
User=lt
ExecStart=/bin/bash -c 'source /opt/ros/jazzy/setup.bash && source /home/lt/px4_ros2_ws/install/setup.bash && ros2 launch line_tracker_bridge bridge.launch.py mavlink_endpoint:=udpin:0.0.0.0:14542'
Restart=on-failure
[Install]
WantedBy=multi-user.target
EOF
sudo systemctl daemon-reload
sudo systemctl enable --now xrce-agent mavlink-router line-tracker
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