From 92d54e1ab0cda26a0c2f5e6379cd60092256eab2 Mon Sep 17 00:00:00 2001
From: Matt Matt <52276910+MattpMatt@users.noreply.github.com>
Date: Tue, 26 Sep 2023 11:49:43 +1300
Subject: [PATCH 1/3] Update job-start.em

Initialize groups so permissions carry over
---
 templates/job-start.em | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/templates/job-start.em b/templates/job-start.em
index bfaeb60..d0ca6cf 100644
--- a/templates/job-start.em
+++ b/templates/job-start.em
@@ -127,7 +127,7 @@ if [ "$?" != "0" ]; then
 fi
 
 # Punch it.
-setpriv --reuid @(user) ros2 launch $LAUNCH_FILENAME @(roslaunch_wait?'--wait ')&
+setpriv --reuid @(user) --regid @(user) --init-groups ros2 launch $LAUNCH_FILENAME @(roslaunch_wait?'--wait ')&
 PID=$!
 
 log info "@(name): Started ros2 launch as background process, PID $PID, ROS_LOG_DIR=$ROS_LOG_DIR"

From 010aa744971dbf1cb81c449642eae78729d2aec4 Mon Sep 17 00:00:00 2001
From: Matt Matt <52276910+MattpMatt@users.noreply.github.com>
Date: Tue, 26 Sep 2023 16:04:50 +1300
Subject: [PATCH 2/3] Update systemd_job.conf.em

---
 templates/systemd_job.conf.em | 1 +
 1 file changed, 1 insertion(+)

diff --git a/templates/systemd_job.conf.em b/templates/systemd_job.conf.em
index c2d34af..0b44f63 100644
--- a/templates/systemd_job.conf.em
+++ b/templates/systemd_job.conf.em
@@ -34,6 +34,7 @@ After=@(systemd_after)
 [Service]
 Type=simple
 ExecStart=/usr/sbin/@(name)-start
+TimeoutStopSec=10
 
 [Install]
 WantedBy=multi-user.target

From c3008254a9a8165de0c910fbb68e5b82a140272a Mon Sep 17 00:00:00 2001
From: Matt Matt <52276910+MattpMatt@users.noreply.github.com>
Date: Tue, 26 Sep 2023 16:06:25 +1300
Subject: [PATCH 3/3] Update systemd_job.conf.em

---
 templates/systemd_job.conf.em | 1 -
 1 file changed, 1 deletion(-)

diff --git a/templates/systemd_job.conf.em b/templates/systemd_job.conf.em
index 0b44f63..c2d34af 100644
--- a/templates/systemd_job.conf.em
+++ b/templates/systemd_job.conf.em
@@ -34,7 +34,6 @@ After=@(systemd_after)
 [Service]
 Type=simple
 ExecStart=/usr/sbin/@(name)-start
-TimeoutStopSec=10
 
 [Install]
 WantedBy=multi-user.target