[Unit]
Description=Robot (hermes_bringup): face, camera, face detection, audio levels
# Nothing here needs the user session: audio_state retries until the user's PipeWire is up.
After=local-fs.target robot-cpu-performance.service robot-firewall.service

[Service]
User=hermes
# lgpio (the display's GPIO backend) drops a notification pipe in its working directory, which must
# be writable: systemd's default, /, is not.
RuntimeDirectory=robot
WorkingDirectory=/run/robot
# audio_state reaches the user's PipeWire through this
Environment=XDG_RUNTIME_DIR=/run/user/1000
ExecStart=/bin/bash -c 'source /home/hermes/robot-env.sh && exec ros2 launch hermes_bringup robot.launch.py'
Restart=always
RestartSec=3
TimeoutStopSec=20

[Install]
WantedBy=multi-user.target