From acd6978406344696be56be143da720382d8c41ad Mon Sep 17 00:00:00 2001
From: CongLiu <cong.liu@moying.ai>
Date: Thu, 4 Nov 2021 15:54:40 +0800
Subject: [PATCH 1/2] add roslaunch_ns

---
 src/robot_upstart/job.py | 3 +++
 templates/job-start.em   | 2 +-
 2 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/src/robot_upstart/job.py b/src/robot_upstart/job.py
index 54fea50..a5dbb21 100644
--- a/src/robot_upstart/job.py
+++ b/src/robot_upstart/job.py
@@ -100,6 +100,9 @@ def __init__(self, name="ros", interface=None, user=None, workspace_setup=None,
         # This will be desired if the nodes spawned by this job are intended to
         # connect to an existing master.
         self.roslaunch_wait = False
+        
+        # Set the roslaunch namespace
+        self.roslaunch_ns = ""
 
         # Set the string of the "After=" section
         # of the generated Systemd service file
diff --git a/templates/job-start.em b/templates/job-start.em
index d69fd03..697894b 100644
--- a/templates/job-start.em
+++ b/templates/job-start.em
@@ -104,7 +104,7 @@ if [ "$?" != "0" ]; then
 fi
 
 # Punch it.
-setpriv --reuid @(user) --regid @(user) --init-groups roslaunch $LAUNCH_FILENAME @(roslaunch_wait?'--wait ')&
+setpriv --reuid @(user) --regid @(user) --init-groups roslaunch $LAUNCH_FILENAME __ns:=@(roslaunch_ns) @(roslaunch_wait?'--wait ')&
 PID=$!
 
 log info "@(name): Started roslaunch as background process, PID $PID, ROS_LOG_DIR=$ROS_LOG_DIR"

From d935600959fe5c4f08d0b1ff9f887da5985fea76 Mon Sep 17 00:00:00 2001
From: CongLiu <cong.liu@moying.ai>
Date: Wed, 15 Dec 2021 21:25:48 +0800
Subject: [PATCH 2/2] templates/job-start.em: add roslaunch_log_opt

---
 templates/job-start.em | 19 ++++++++++++++++++-
 1 file changed, 18 insertions(+), 1 deletion(-)

diff --git a/templates/job-start.em b/templates/job-start.em
index 697894b..691913d 100644
--- a/templates/job-start.em
+++ b/templates/job-start.em
@@ -28,6 +28,23 @@
 #!/bin/bash
 # THIS IS A GENERATED FILE, NOT RECOMMENDED TO EDIT.
 
+roslaunch_log_opt="--log"
+
+while getopts ":s" opt; do
+  case $opt in
+    s)
+      roslaunch_log_opt="--screen"
+      ;;
+    :)
+      echo "Option -$OPTARG requires an argument." 
+      exit 1
+      ;;
+    ?)
+      echo "Invalid option: -$OPTARG index:$OPTIND"
+      ;;    
+  esac
+done
+
 function log() {
   logger -s -p user.$1 ${@@:2}
 }
@@ -104,7 +121,7 @@ if [ "$?" != "0" ]; then
 fi
 
 # Punch it.
-setpriv --reuid @(user) --regid @(user) --init-groups roslaunch $LAUNCH_FILENAME __ns:=@(roslaunch_ns) @(roslaunch_wait?'--wait ')&
+setpriv --reuid @(user) --regid @(user) --init-groups roslaunch $LAUNCH_FILENAME __ns:=@(roslaunch_ns) @(roslaunch_wait?'--wait ') $roslaunch_log_opt&
 PID=$!
 
 log info "@(name): Started roslaunch as background process, PID $PID, ROS_LOG_DIR=$ROS_LOG_DIR"