here is the init file for info :

#! /bin/sh
### BEGIN INIT INFO
# Provides: ard_autostart
# Required-Start: $remote_fs $syslog $ard_can
# Required-Stop: $remote_fs $syslog $ard_can
# Default-Start: 2 3 4 5
# Default-Stop: 0 1 6
# Short-Description: Example initscript
# Description: This is used to autostart ARd's binairies for matches
### END INIT INFO

# Author: Foo Bar <contact [..] ...>

# Do NOT "set -e"

# PATH should only include /usr/* if it runs after the mountnfs.sh script
PATH=/sbin:/usr/sbin:/bin:/usr/bin
DESC="This is used to autostart ARd's binairies for matches"
NAME=ard_autostart
DAEMON=/opt/boot.sh
DAEMON_ARGS=""
PIDFILE=/var/run/$NAME.pid
SCRIPTNAME=/etc/init.d/$NAME

# Exit if the environnement variables are not present
if [ -x "/opt/env.sh" ] ; then
echo "ERROR : The /opt/env.sh script is not present : $DAEMON"
exit 0
else
. /opt/color.sh
#. /opt/env.sh
fi

# Exit if the package is not installed
if [ ! -x "$DAEMON" ] ; then
cecho "red" "The autostart script is not present : $DAEMON, or it doesn't
have execution rigths"
exit 0
fi

# Read configuration variable file if it is present
[ -r /etc/default/$NAME ] && . /etc/default/$NAME

# Load the VERBOSE setting and other rcS variables
. /lib/init/vars.sh

# Define LSB log_* functions.
# Depend on lsb-base (>= 3.2-14) to ensure that this file is present
# and status_of_proc is working.
. /lib/lsb/init-functions

#
# Function that starts the daemon/service
#
do_start()
{
# Return
# 0 if daemon has been started
# 1 if daemon was already running
# 2 if daemon could not be started
start-stop-daemon --start --quiet --pidfile $PIDFILE --exec $DAEMON --test
> /dev/null \
|| return 1

if [ -f /opt/conf/MATCH ]; then
#S=start m=create pid file b=go to background v=verbose
start-stop-daemon -Smbv -x /opt/boot.sh -p $PIDFILE \
|| return 2
cecho "yellow" "Autostarting binaries !"
sleep 2
else
cecho "yellow" "/opt/conf/MATCH is not present, I am not autostarting
binaries"
fi

}

#
# Function that stops the daemon/service
#
do_stop()
{
if [ -f $PIDFILE ] ; then
cecho "yellow" "stopping autostarted binaries !"
kill -9 `cat $PIDFILE`
rm -f $PIDFILE
return 0
else
cecho "red" "process are not started !"
return 2
fi
}

#
# Function that sends a SIGHUP to the daemon/service
#
do_reload() {
#
# If the daemon can reload its configuration without
# restarting (for example, when it is sent a SIGHUP),
# then implement that here.
#
start-stop-daemon --stop --signal 1 --quiet --pidfile $PIDFILE --name $NAME
return 0
}

case "$1" in
start)
[ "$VERBOSE" != no ] && log_daemon_msg "Starting $DESC" "$NAME"
do_start
case "$?" in
0|1) [ "$VERBOSE" != no ] && log_end_msg 0 ;;
2) [ "$VERBOSE" != no ] && log_end_msg 1 ;;
esac
;;
stop)
[ "$VERBOSE" != no ] && log_daemon_msg "Stopping $DESC" "$NAME"
do_stop
case "$?" in
0|1) [ "$VERBOSE" != no ] && log_end_msg 0 ;;
2) [ "$VERBOSE" != no ] && log_end_msg 1 ;;
esac
;;
status)
status_of_proc "$DAEMON" "$NAME" && exit 0 || exit $?
;;
#reload|force-reload)
#
# If do_reload() is not implemented then leave this commented out
# and leave 'force-reload' as an alias for 'restart'.
#
#log_daemon_msg "Reloading $DESC" "$NAME"
#do_reload
#log_end_msg $?
#;;
restart|force-reload)
#
# If the "reload" option is implemented then remove the
# 'force-reload' alias
#
log_daemon_msg "Restarting $DESC" "$NAME"
do_stop
case "$?" in
0|1)
do_start
case "$?" in
0) log_end_msg 0 ;;
1) log_end_msg 1 ;; # Old process is still running
*) log_end_msg 1 ;; # Failed to start
esac
;;
*)
# Failed to stop
log_end_msg 1
;;
esac
;;
*)
#echo "Usage: $SCRIPTNAME {start|stop|restart|reload|force-reload}" >&2
echo "Usage: $SCRIPTNAME {start|stop|status|restart|force-reload}" >&2
exit 3
;;
esac

:

and the boot.sh contains either :
screen -D deployer-gnulinux -s truc.ops
or
roslaunch ....

2012/2/1 Willy Lambert <lambert [dot] willy [..] ...>

> I think I was using the deployer under "screen" in fact :D That's why it
> weren't interrupted.
>
>
> 2012/1/24 Peter Soetens <peter [..] ...>
>
>> On Tue, Jan 24, 2012 at 5:56 PM, Antonio Castellon <
>> antonio [dot] castellon [..] ...> wrote:
>>
>>> Hi Willy,
>>>
>>> Yes, I see it before... the *orocos.log* informed that the deployer is
>>> kick-out, but I can't understand what is the reason, No Errors are
>>> showed ..:-(
>>>
>>> [Info][Thread] Creating Thread for scheduler: 1
>>> [Info][TaskBrowser] Thread created with sheduler type '1', priority 0,
>>> cpu affinity 4294967295 and period 0.
>>> [Info][Logger] Entering Task Deployer
>>> [Info][DeploymentComponent::stopComponentsGroup] Stopping group 0
>>> [Info][DeploymentComponent::cleanupComponentsGroup] Cleaning up group 0
>>> [Info][Logger] Unloading group 0
>>> [Info][Logger] Kick-out of group 0 successful.
>>> [Info][Logger] Orocos Logging Deactivated.
>>>
>>>
>>>
>>> I launch the deployer without load components , the script only run the
>>> deployer-gnulinux.
>>> Any idea?
>>>
>>
>> The deployer opens a terminal, and gets a 'ctrl-d' because it is running
>> in the background. As a consequence, it quits and cleans up.
>>
>> There is bin/rttscript which is a deployer without a TaskBrowser prompt
>> (takes both XML and ops files). Be warned, you need to find a way to delay
>> the exit of the application, for example, by blocking on a condition on the
>> last script you provided.. See line 165 of deployer.cpp. Any suggestions to
>> provide a standard way to implement this are welcome.
>>
>> Peter
>>
>>
>>
>

Dear developers,

I try to execute a non-periodic component that reads from serial port, it is successfull execution when it is running on command taskbrowser environment (deployer-<target>), it is always on memory capturing data. My problem appears when I try to launch it automatically in boot sequence as a service, in order that it capture data without login requirement.

my steps:

I use deployer-<target> it hangs my OS system boot sequence. Therefore, I use rttscript-<target> it only execute for few time (5 seconds aprox.) and later it is automatically closed.

As Peter said me, I try to use some block conditional sentence on my script, but I not found something like sleep or delay or wait on Orocos Script. Therefore I used as block command : while (true){}; but the result is the same, the script is automatically finished 5 seconds later to load the component (without errors).

Somebody knows what is wrong or another method to have the components running on the OS without login requirement?

Thanks in advance for your help. Toni