# Startup roscore

**URL:** <https://forum.ubiquityrobotics.com/t/startup-roscore/83>\
**Category:** General Questions\
**Created:** [August 2, 2018, 12:36am UTC](https://forum.ubiquityrobotics.com/t/startup-roscore/83 "2018-08-02T00:36:29Z")\
**Posts on this page:** 8\
**Page:** 1

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**Author:** ![dan](https://forum.ubiquityrobotics.com/letter_avatar_proxy/v4/letter/d/eada6e/32.png) [@dan](https://forum.ubiquityrobotics.com/u/dan)\
**Post date:** [August 2, 2018, 12:36am UTC](https://forum.ubiquityrobotics.com/t/startup-roscore/83/1 "2018-08-02T00:36:29Z")

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I followed the tutorials and have the image working nicely with ros over ssh.  
However, runs roscore on bootup and I cannot find where that is being called. I would like that to not occur because some code I run needs to not have roscore running.

I did disable the startup code for Magni, since I am running with my own hardware, but it seems this one gets by.

Thanks for making such a terrific image and software packages available.

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**Author:** ![rohbotics](https://forum.ubiquityrobotics.com/user_avatar/forum.ubiquityrobotics.com/rohbotics/32/222_2.png) [@rohbotics](https://forum.ubiquityrobotics.com/u/rohbotics)\
**Post date:** [August 2, 2018, 12:51am UTC](https://forum.ubiquityrobotics.com/t/startup-roscore/83/2 "2018-08-02T00:51:01Z")

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There is a separate service for roscore.

`sudo systemctl stop roscore.service`

Rohan

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**Author:** ![dan](https://forum.ubiquityrobotics.com/letter_avatar_proxy/v4/letter/d/eada6e/32.png) [@dan](https://forum.ubiquityrobotics.com/u/dan)\
**Post date:** [August 2, 2018, 1:54am UTC](https://forum.ubiquityrobotics.com/t/startup-roscore/83/3 "2018-08-02T01:54:11Z")

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Thanks for the quick reply. Can I disable the roscore startup at boot with this?

sudo systemctl disable roscore.service

Is there anything else that runs at startup by default?

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**Author:** ![rohbotics](https://forum.ubiquityrobotics.com/user_avatar/forum.ubiquityrobotics.com/rohbotics/32/222_2.png) [@rohbotics](https://forum.ubiquityrobotics.com/u/rohbotics)\
**Post date:** [August 2, 2018, 5:05am UTC](https://forum.ubiquityrobotics.com/t/startup-roscore/83/4 "2018-08-02T05:05:13Z")

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Yes you can do that.

The only other non-standard running by default is pifi, our headless network management tool.

Rohan

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**Author:** ![dan](https://forum.ubiquityrobotics.com/letter_avatar_proxy/v4/letter/d/eada6e/32.png) [@dan](https://forum.ubiquityrobotics.com/u/dan)\
**Post date:** [August 2, 2018, 5:36am UTC](https://forum.ubiquityrobotics.com/t/startup-roscore/83/5 "2018-08-02T05:36:28Z")

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That is very helpful. Thanks for such fast feedback

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**Author:** ![jdetwile](https://forum.ubiquityrobotics.com/letter_avatar_proxy/v4/letter/j/fbc32d/32.png) [@jdetwile](https://forum.ubiquityrobotics.com/u/jdetwile)\
**Post date:** [October 12, 2018, 9:20pm UTC](https://forum.ubiquityrobotics.com/t/startup-roscore/83/6 "2018-10-12T21:20:34Z")

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Follow-up question: I’ve 'disable’d roscore startup, as described here. But where does ‘roslaunch’ get kicked off to start all the nodes? Is roslaunch trying – and failing (because ‘master’ isn’t running)? Or does disabling the roscore startup also magically disable all the roslaunch requests.

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**Author:** ![dan](https://forum.ubiquityrobotics.com/letter_avatar_proxy/v4/letter/d/eada6e/32.png) [@dan](https://forum.ubiquityrobotics.com/u/dan)\
**Post date:** [October 13, 2018, 3:56am UTC](https://forum.ubiquityrobotics.com/t/startup-roscore/83/7 "2018-10-13T03:56:05Z")

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roslaunch will start a roscore instance if one is not already running, so you do not need to use roscore if you use roslaunch. If roscore is already running, then roslaunch proceeds normally without creating an additional instance of roscore. If you disable the automatic startup sequence, you may need to roslaunch the launch files yourself.

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**Author:** ![rohbotics](https://forum.ubiquityrobotics.com/user_avatar/forum.ubiquityrobotics.com/rohbotics/32/222_2.png) [@rohbotics](https://forum.ubiquityrobotics.com/u/rohbotics)\
**Post date:** [October 13, 2018, 4:17am UTC](https://forum.ubiquityrobotics.com/t/startup-roscore/83/8 "2018-10-13T04:17:10Z")

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There is a roslaunch is run in `magni-base.service`

You can disable it individually with `sudo systemctl disable magni-base.service`

I believe the systemd configuration is such that if you disable the roscore service, it also stops the magni-base service from running.

If you must run code before roscore, you can add `Before=roscore.service` to the systemd service file for that code.

Rohan