[Unit]
Description=TG3 independent teleoperation MCAP recorder supervisor
After=network-online.target
Wants=network-online.target
Before=tg3-local-teleop.service

[Service]
Type=simple
WorkingDirectory=/home/nvidia/tg3_local_teleop
UMask=0027
ExecStartPre=/home/nvidia/tg3_local_teleop/wait_ros_ready.sh
ExecStart=/home/nvidia/tg3_local_teleop/run_data_recorder.sh
Restart=on-failure
RestartSec=2
KillSignal=SIGINT
# Signal only the Python supervisor first; it owns clean SIGINT/finalization
# of rosbag2.  The whole cgroup is still killed if the generous deadline ends.
KillMode=mixed
TimeoutStartSec=150
TimeoutStopSec=150

[Install]
WantedBy=default.target