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supervisord 使用指南

supervisord的安装

supervisor是一系列python脚本文件，以python package的形式管理，可以用于UNIX类系统的进程管理。
安装supervisor也相当简单，只需要用pip安装即可。

sudo pip install supervisor

但是有可能将其安装在了~/.local/lib下，会导致systemd自启动管理软件找不到supervisor这个包。典型的错误为 from supervisor.supervisord import main. ERROR: No MODULE named supervisor。
此时卸载supervisor重装，需安装在系统python的dist-packages目录下，比如通过--target指定安装位置，确保supervisor和其他python包在一个目录（常见的如numpy等）

sudo pip install --target=/usr/local/lib/python3.8/dist-packages supervisor

和systemd一起管理自启动

启动链：systemd → supervisord → YOUR_APP

其中两个核心配置文件，/etc/systemd/system/supervisord.service 和 /etc/supervisord/supervisord.conf。/etc/supervisord/目录和文件自行创建

1. supervisord.service为systemd启动系统常驻服务supervisord的配置文件，参考如下：

[Unit]
Description=supervisord - Supervisor process control system for UNIX;
After=network.target[Service]
Type=forking
ExecStart=/usr/local/bin/supervisord -c /etc/supervisord/supervisord.conf  
ExecReload=/usr/local/bin/supervisorctl reload
ExecStop=/usr/local/bin/supervisorctl shutdown[Install]
WantedBy=multi-user.target

2. supervisord.conf为supervisord启动自定义程序的配置文件，参考如下：

[unix_http_server]
file=/tmp/supervisor.sock                       ; path to your socket file[supervisord]logfile=/home/Alex/shepherd/supervisord/supervisord.log    ; supervisord log file
logfile_maxbytes=50MB                           ; maximum size of logfile before rotation
logfile_backups=10                              ; number of backed up logfiles
loglevel=info                                  ; info, debug, warn, trace
pidfile=/var/run/supervisord.pid                ; pidfile location
nodaemon=false                                  ; run supervisord as a daemon
minfds=1024                                     ; number of startup file descriptors
minprocs=200                                    ; number of process descriptors
user=Alex                                       ; default user
childlogdir=/home/Alex/shepherd/supervisord              ; where child log files will live[inet_http_server]
port = 127.0.0.1:9001[rpcinterface:supervisor]
supervisor.rpcinterface_factory = supervisor.rpcinterface:make_main_rpcinterface[supervisorctl]
serverurl=unix:///tmp/supervisor.sock         ; use a unix:// URL  for a unix socket[program:roscore]
command=/home/Alex/shepherd/supervisord/startup/rosl_roscore start-foreground
autostart=true
stopsignal=TERM
stopasgroup=true
stderr_logfile = /home/Alex/shepherd/supervisord/log/roscore-stderr.log
stdout_logfile = /home/Alex/shepherd/supervisord/log/roscore-stdout.log[program:slam]
command=/home/Alex/shepherd/supervisord/startup/rosl_slam -start-foreground
autostart=true
stopsignal=TERM
stopasgroup=true
stderr_logfile = /home/Alex/shepherd/supervisord/log/slam-stderr.log
stdout_logfile = /home/Alex/shepherd/supervisord/log/slam-stdout.log[program:sensor]
command=/home/Alex/shepherd/supervisord/startup/rosl_sensor -start-foreground
autostart=true
stopsignal=TERM
stopasgroup=true
stderr_logfile = /home/Alex/shepherd/supervisord/log/sensor-stderr.log
stdout_logfile = /home/Alex/shepherd/supervisord/log/sensor-stdout.log

3. 自定义程序的启动脚本
   以下文件需要 chmod +x 权限

a. startup/rosl_sensor

#!/bin/bashsudo chmod 777 /dev/spidev3.0
source /opt/ros/noetic/setup.bash
cd /home/Alex/shepherd/fays_inside_out_sensor_bringup
source /home/Alex/shepherd/fays_inside_out_sensor_bringup/ROS/devel/setup.bash
export ROS_HOME=/home/Alex/.ros
rosrun vi_driver vi_publisher 61 &
PID=$!
wait "$PID"

在shell脚本中想要免密sudo可以sudo visudo，追加一行:

YOUR_USERNAME ALL=(ALL) NOPASSWD: /bin/chmod

b. startup/rosl_slam

#!/bin/bashsource /opt/ros/noetic/setup.bash
source /home/Alex/shepherd/vinsfusion_ws/devel/setup.bash
export ROS_HOME=/home/Alex/.ros
rosrun vins vins_node /home/Alex/shepherd/vinsfusion_ws/src/VINS-Fusion/config/OV9281_ICM42688_2_2/stereo_imu_config.yaml &
rosrun loop_fusion loop_fusion_node /home/Alex/shepherd/vinsfusion_ws/src/VINS-Fusion/config/OV9281_ICM42688_2_2/stereo_imu_config.yaml &
PID=$!
wait "$PID"

c. startup/rosl_roscore

#!/bin/bashsource /opt/ros/noetic/setup.bash
# source /home/griz/panther_ws/devel/setup.bash
export ROS_HOME=/home/Alex/.ros
roscore
PID=$!
wait "$PID"