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Hi all,

I just want to update that I already solved this. Apparently, there is a syntax error for home environment. Below is a working service file to implement robot upstart with launch file, QT generated interface and RVIZ.

[Unit]
Description="bringup agv_uia"
After=network.target
After=display_manager.service
Wants=display_manager.service

[Service]
Type=simple
Environment=DISPLAY=:0
Environment="XAUTHORITY=/run/user/1000/gdm/Xauthority"
Environment="HOME=/home/mic-710aix"
Environment="XDG_RUNTIME_DIR=/home/mic-710aix/catkin_ws/tmp"
ExecStart=/usr/sbin/agv_uia-start

[Install]
WantedBy=multi-user.target