Add s6-overlay and Talos system manager support for physical_ai_server

docker/docker-compose.yml

@@ -31,8 +31,8 @@ services:
       - ./huggingface:/root/.cache/huggingface
       - /etc/timezone:/etc/timezone:ro
       - /etc/localtime:/etc/localtime:ro
+      - /var/run/robotis/agent_sockets/physical_ai_server:/var/run/agent
     privileged: true
-    command: bash
     runtime: nvidia
     deploy:
       resources:

docker/s6-agent/dependencies

@@ -0,0 +1 @@
+

docker/s6-agent/finish

@@ -0,0 +1,9 @@
+#!/usr/bin/with-contenv sh
+# Agent service finish script
+# Cleanup when service stops
+
+# Remove socket file if it exists
+[ -S /var/run/agent/s6_agent.sock ] && rm -f /var/run/agent/s6_agent.sock
+
+exit 0
+

docker/s6-agent/run

@@ -0,0 +1,14 @@
+#!/command/with-contenv sh
+# Agent service run script
+# This script starts the s6-agent FastAPI service
+
+set -e
+
+# Ensure socket directory exists
+mkdir -p /var/run/agent
+chmod 777 /var/run/agent
+
+# Start uvicorn with Unix Domain Socket
+# The agent is part of talos package
+exec uvicorn talos.agent.s6_agent:app --uds /var/run/agent/s6_agent.sock --log-level info
+

docker/s6-agent/type

@@ -0,0 +1,2 @@
+longrun
+

docker/s6-services/common/ros2_service_finish.sh

@@ -0,0 +1,62 @@
+#!/command/with-contenv sh
+# Reusable ROS2 service finish script template
+# This script runs when the service is stopped.
+# Usage: SERVICE_NAME=<name> /path/to/ros2_service_finish.sh [exit_code]
+
+set -e
+
+# Service name must be provided via environment variable
+SERVICE_NAME="${SERVICE_NAME}"
+if [ -z "${SERVICE_NAME}" ]; then
+    echo "Error: SERVICE_NAME environment variable must be set" >&2
+    exit 1
+fi
+
+# Log the finish event for debugging
+EXIT_CODE=${1:-unknown}
+echo "[${SERVICE_NAME} finish] Service stopped with exit code $EXIT_CODE"
+
+# If we recorded a process group ID, send a final graceful SIGTERM to that group
+# and wait until the processes are fully dead (or a timeout is reached).
+PGID_FILE=/run/${SERVICE_NAME}.pgid
+if [ -f "${PGID_FILE}" ]; then
+    PGID=$(cat "${PGID_FILE}" 2>/dev/null || echo "")
+    if [ -n "${PGID}" ]; then
+        echo "[${SERVICE_NAME} finish] Sending SIGTERM to process group ${PGID}"
+        # Negative PGID means "entire process group" to kill(2)
+        kill -TERM -"${PGID}" 2>/dev/null || echo "[${SERVICE_NAME} finish] Warning: kill -TERM -${PGID} failed or group already gone"
+
+        # Wait until the process group is gone, with a hard timeout
+        TIMEOUT=30        # total seconds to wait
+        SLEEP_INTERVAL=1  # seconds between checks
+        ELAPSED=0
+
+        # Helper: returns 0 if PGID still has processes, 1 otherwise
+        pgid_alive() {
+            # 'ps -o pgid=' prints the PGID for each matching process;
+            # if there is at least one line, the group is still alive.
+            ps -o pgid= -g "${PGID}" 2>/dev/null | grep -q .
+        }
+
+        if pgid_alive; then
+            echo "[${SERVICE_NAME} finish] Waiting for process group ${PGID} to exit (timeout: ${TIMEOUT}s)..."
+        fi
+
+        while pgid_alive && [ "${ELAPSED}" -lt "${TIMEOUT}" ]; do
+            sleep "${SLEEP_INTERVAL}"
+            ELAPSED=$((ELAPSED + SLEEP_INTERVAL))
+        done
+
+        if pgid_alive; then
+            echo "[${SERVICE_NAME} finish] Timeout waiting for process group ${PGID} to exit; sending SIGKILL"
+            kill -KILL -"${PGID}" 2>/dev/null || echo "[${SERVICE_NAME} finish] Warning: kill -KILL -${PGID} failed or group already gone"
+        else
+            echo "[${SERVICE_NAME} finish] Process group ${PGID} fully exited after ${ELAPSED}s"
+        fi
+    fi
+fi
+
+echo "[${SERVICE_NAME} finish] Finish script completed"
+
+exit 0
+

docker/s6-services/common/ros2_service_run.sh

@@ -0,0 +1,60 @@
+#!/bin/bash
+# Reusable ROS2 service run script template
+# This script launches ROS2 commands for any service
+# Usage:
+#   SERVICE_NAME=<name> ROS2_COMMAND="<full command>" /path/to/ros2_service_run.sh
+#   If ROS2_COMMAND is not set, defaults to: ros2 launch physical_ai_server ${SERVICE_NAME}.launch.py
+# Note: This script is called via /command/with-contenv, so environment is already set up
+
+set -e
+
+# Service name must be provided via environment variable
+SERVICE_NAME="${SERVICE_NAME}"
+if [ -z "${SERVICE_NAME}" ]; then
+    echo "Error: SERVICE_NAME environment variable must be set" >&2
+    exit 1
+fi
+
+# Set ROS_DOMAIN_ID if not already set (default to 30)
+export ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-30}
+export ROS_DISTRO=${ROS_DISTRO:-jazzy}
+export COLCON_WS=${COLCON_WS:-/root/ros2_ws}
+export PATH=/opt/venv/bin:${PATH}
+export PYTHONPATH=/opt/venv/lib/python3.12/site-packages:${PYTHONPATH}
+export PYTHONPATH=${COLCON_WS}/src/physical_ai_tools/lerobot/src:${PYTHONPATH}
+
+# Enable s6-overlay debug logging (set S6_VERBOSITY=1 for more verbose output)
+export S6_VERBOSITY=${S6_VERBOSITY:-1}
+
+echo "[${SERVICE_NAME}] Starting service..."
+echo "[${SERVICE_NAME}] ROS_DOMAIN_ID=${ROS_DOMAIN_ID}"
+echo "[${SERVICE_NAME}] ROS_DISTRO=${ROS_DISTRO}"
+echo "[${SERVICE_NAME}] RMW_IMPLEMENTATION=${RMW_IMPLEMENTATION}"
+echo "[${SERVICE_NAME}] COLCON_WS=${COLCON_WS}"
+echo "[${SERVICE_NAME}] PID: $$"
+
+# Record process group ID so the finish script can target the whole group
+PGID=$(ps -o pgid= -p $$ | tr -d ' ')
+echo "[${SERVICE_NAME}] Process group: ${PGID}"
+echo "${PGID}" > /run/${SERVICE_NAME}.pgid || true
+
+# Source ROS2 environment
+source /opt/ros/${ROS_DISTRO}/setup.bash
+source ${COLCON_WS}/install/setup.bash
+
+# Determine the command to execute
+# If ROS2_COMMAND is set, use it; otherwise, use the default launch command
+if [ -n "${ROS2_COMMAND}" ]; then
+    ROS2_CMD="${ROS2_COMMAND}"
+    echo "[${SERVICE_NAME}] Executing custom command: ${ROS2_CMD}"
+else
+    ROS2_CMD="ros2 launch physical_ai_server ${SERVICE_NAME}.launch.py"
+    echo "[${SERVICE_NAME}] Executing default command: ${ROS2_CMD}"
+fi
+
+# Execute the ROS2 command
+# Using 'exec' ensures the command becomes PID 1 of this service,
+# which allows s6 to properly signal it and its children
+# Note: stdout/stderr are automatically piped to ${SERVICE_NAME}-log via producer-for/consumer-for
+exec bash -c "${ROS2_CMD}"
+

docker/s6-services/physical_ai_server-log-prepare/type

@@ -0,0 +1,3 @@
+oneshot
+
+

docker/s6-services/physical_ai_server-log-prepare/up

@@ -0,0 +1,3 @@
+if { mkdir -p /var/log/physical_ai_server }
+if { chown nobody:nogroup /var/log/physical_ai_server }
+chmod 02755 /var/log/physical_ai_server

docker/s6-services/physical_ai_server-log/consumer-for

@@ -0,0 +1,3 @@
+physical_ai_server
+
+

docker/s6-services/physical_ai_server-log/pipeline-name

@@ -0,0 +1,3 @@
+physical_ai_server-pipeline
+
+

docker/s6-services/physical_ai_server-log/run

@@ -0,0 +1,7 @@
+#!/command/with-contenv sh
+# Logging service for physical_ai_server
+# Uses logutil-service which wraps s6-log with proper configuration
+
+exec logutil-service /var/log/physical_ai_server
+
+

docker/s6-services/physical_ai_server-log/type

@@ -0,0 +1,3 @@
+longrun
+
+

docker/s6-services/physical_ai_server/dependencies

@@ -0,0 +1,2 @@
+
+

docker/s6-services/physical_ai_server/finish

@@ -0,0 +1,19 @@
+#!/command/with-contenv sh
+# Physical AI Server service finish script
+# Uses reusable ROS2 service template
+
+set -e
+
+SERVICE_NAME="physical_ai_server"
+COMMON_SCRIPT="/usr/local/lib/s6-services/ros2_service_finish.sh"
+
+if [ -f "${COMMON_SCRIPT}" ]; then
+    # Use env to explicitly pass variables to the script
+    # The with-contenv wrapper will preserve these variables
+    exec /command/with-contenv env SERVICE_NAME="${SERVICE_NAME}" sh "${COMMON_SCRIPT}" "$@"
+else
+    echo "Error: Common script not found at ${COMMON_SCRIPT}" >&2
+    exit 1
+fi
+
+

docker/s6-services/physical_ai_server/producer-for

@@ -0,0 +1,3 @@
+physical_ai_server-log
+
+

docker/s6-services/physical_ai_server/run

@@ -0,0 +1,23 @@
+#!/command/with-contenv bash
+# Physical AI Server service run script
+# Uses reusable ROS2 service template
+
+set -e
+
+SERVICE_NAME="physical_ai_server"
+ROS2_COMMAND="ros2 launch physical_ai_server physical_ai_server_bringup.launch.py"
+COMMON_SCRIPT="/usr/local/lib/s6-services/ros2_service_run.sh"
+
+if [ -f "${COMMON_SCRIPT}" ]; then
+    export SERVICE_NAME="${SERVICE_NAME}"
+    export ROS2_COMMAND="${ROS2_COMMAND}"
+    # Use env to explicitly pass variables to the script
+    # The with-contenv wrapper will preserve these variables
+    exec /command/with-contenv env SERVICE_NAME="${SERVICE_NAME}" ROS2_COMMAND="${ROS2_COMMAND}" bash "${COMMON_SCRIPT}"
+else
+    # Fallback if common script not available
+    echo "Error: Common script not found at ${COMMON_SCRIPT}" >&2
+    exit 1
+fi
+
+

docker/s6-services/physical_ai_server/type

@@ -0,0 +1,3 @@
+longrun
+
+

physical_ai_bt/CHANGELOG.rst

@@ -2,6 +2,10 @@
 Changelog for package physical_ai_bt
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.8.1 (2026-02-06)
+------------------
+* None
+
 0.8.0 (2026-01-19)
 ------------------
 * Initial release of physical_ai_bt package

physical_ai_bt/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>physical_ai_bt</name>
-  <version>0.8.0</version>
+  <version>0.8.1</version>
   <description>
     Python-based Behavior Tree for Physical AI
   </description>

physical_ai_bt/setup.py

@@ -13,7 +13,7 @@
 
 setup(
     name=package_name,
-    version='0.8.0',
+    version='0.8.1',
     packages=find_packages(),
     data_files=[
         ('share/ament_index/resource_index/packages', ['resource/' + package_name]),

physical_ai_interfaces/CHANGELOG.rst

@@ -2,6 +2,10 @@
 Changelog for package physical_ai_interfaces
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.8.1 (2026-02-06)
+------------------
+* None
+
 0.8.0 (2026-01-19)
 ------------------
 * None

physical_ai_interfaces/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>physical_ai_interfaces</name>
-  <version>0.8.0</version>
+  <version>0.8.1</version>
   <description>
     ROS 2 interfaces for Physical AI tools
   </description>

physical_ai_manager/CHANGELOG.rst

@@ -2,6 +2,10 @@
 Changelog for package physical_ai_manager
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.8.1 (2026-02-06)
+------------------
+* None
+
 0.8.0 (2026-01-19)
 ------------------
 * None

physical_ai_manager/package.json

@@ -1,6 +1,6 @@
 {
   "name": "physical_ai_manager",
-  "version": "0.8.0",
+  "version": "0.8.1",
   "description": "Web UI for Physical AI Platform",
   "author": "Kiwoong Park <pkw@robotis.com>",
   "contributors": [

physical_ai_server/CHANGELOG.rst

@@ -2,6 +2,11 @@
 Changelog for package physical_ai_server
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.8.1 (2026-02-06)
+------------------
+* Add s6-agent and s6-services for supporting talos system manager
+* Contributors: Hyungyu Kim
+
 0.8.0 (2026-01-19)
 ------------------
 * None