How to set environmental variable in systemd service
Normally systemd services have only a limited set of environment variables,
and things in /etc/profile, /etc/profile.d and bashrc-related files are not set.
To add environment variables for a systemd service you have different possibilities.
The examples as follows assume that roscore is at /opt/ros/kinetic/bin/roscore, since systemd services must have the binary or script configured with a full path.
One possibility is to use the Environment option in your systemd service and a simple systemd service would be as follows.
[root@localhost ~]# cat /etc/systemd/system/ros.service
[Unit]
Description=ROS Kinetic
After=sshd.service
[Service]
Type=simple
Environment="One=1" "Three=3"
Environment="Two=2"
Environment="Four=4"
ExecStart=/opt/ros/kinetic/bin/roscore
[Install]
WantedBy=multi-user.target
You also can put all the environment variables into a file that can be read with the EnvironmentFile option in the systemd service.
[root@localhost ~]# cat /etc/systemd/system/ros.env
One=1
Three=3
Two=2
Four=4
[root@localhost ~]# cat /etc/systemd/system/ros.service
[Unit]
Description=ROS Kinetic
After=sshd.service
[Service]
Type=simple
EnvironmentFile=/etc/systemd/systemd/ros.env
ExecStart=/opt/ros/kinetic/bin/roscore
[Install]
WantedBy=multi-user.target
Another option would be to make a wrapper script for your ros binary and call that wrapper script from the systemd service. The script needs to be executable. To ensure that, run
chmod 755 /opt/ros/kinetic/bin/roscore.startup
after creating that file.
[root@localhost ~]# cat /opt/ros/kinetic/bin/roscore.startup
#!/bin/bash
source /opt/ros/kinetic/setup.bash
roscore
[root@localhost ~]# cat /etc/systemd/system/ros.service
[Unit]
Description=ROS Kinetic
After=sshd.service
[Service]
Type=simple
ExecStart=/opt/ros/kinetic/bin/roscore.startup
[Install]
WantedBy=multi-user.target
Note that you need to run systemctl daemon-reload after you have edited the service file to make the changes active. To enable the service on systemboot, you have to enter systemctl enable ros.
I am not familiar with the roscore binary and it might be necessary to change Type= from simple (which is the default and normally not needed) to forking in the first two examples.
For normal logins, you could copy or symlink /opt/ros/kinetic/setup.bash to /etc/profile.d/ros.sh, which should be sourced on normal logins.