Systemd roslaunch

edit

I've recently migrated my ROS project to Ubuntu 16.04LTS and ROS kinetic since I was having stability issues with Ubuntu 14.04LTS. Unfortunately this means I can't use robot upstart anymore to run my roslaunch file at startup (afaik).

I've made an attempt at using systemd (based on this guide) to run a bash script which runs roslaunch at startup but I'm stuck trying to get everything to work.

my systemd file: (chmod 664)

[Unit]

Description=start runslam

After=mysql.service

[Service]

ExecStart=/usr/local/bin/runslam.sh

KillMode=process

[Install]

WantedBy=default.target

my bash script: (chmod +x)

#!/bin/bash

roslaunch runslam slam.launch

Just running the bash script from the terminal starts up roscore and my project runs fine but when running:

$ sudo systemctl start runslam.service

$ systemctl status runslam.service

I get the following output:

● runslam.service - start runslam
Loaded: loaded (/etc/systemd/system/runslam.service; enabled; vendor preset: enabled)
Active: failed (Result: exit-code) since Thu 2016-10-06 11:36:29 AEST; 7s ago Process: 3746 ExecStart=/usr/local/bin/runslam.sh (code=exited, status=127) Main PID: 3746 (code=exited, status=127)

Oct 06 11:36:29 ausdroid-sbc-flt1 systemd[1]: Started start runslam.

Oct 06 11:36:29 ausdroid-sbc-flt1 runslam.sh[3746]: /usr/local/bin/runslam.sh: line 3: roslaunch: command not found

Oct 06 11:36:29 ausdroid-sbc-flt1 systemd[1]: runslam.service: Main process exited,> code=exited, status=127/n/a

Oct 06 11:36:29 ausdroid-sbc-flt1 systemd[1]: runslam.service: Unit entered failed state.

Oct 06 11:36:29 ausdroid-sbc-flt1 systemd[1]: runslam.service: Failed with result 'exit-code'.

I think "roslaunch: command not found" means that the ROS environment needs to be somehow specified in the systemd file does anyone know how to do this? Thanks.