[Unit]
Description=Robot face (hermes_face): the display is always on while the robot is powered
After=local-fs.target robot-cpu-performance.service

[Service]
User=hermes
# lgpio (the GPIO backend for the display) drops a notification pipe, .lgd-nfy*, in its working
# directory, which must be writable: systemd's default, /, is not.
RuntimeDirectory=robot-face
WorkingDirectory=/run/robot-face
ExecStart=/bin/bash -c 'source /home/hermes/robot-env.sh && exec ros2 run hermes_face face_node'
Restart=always
RestartSec=2

[Install]
WantedBy=multi-user.target