Services
What each ARK-OS service does.
ARK-OS services are system-level systemd services running as the jetson user. Manage them — including configuration editing — from the ARK-UI Services page, or with systemctl. Configuration files live under /etc/ark-os/.
Enabled by Default
mavlink-router routes MAVLink between the flight controller (USB, /dev/ttyACM0) and user-defined UDP/TCP endpoints such as QGroundControl. Default config: main.conf.
rtsp-server streams the first CSI camera over RTSP at rtsp://jetson.local:5600/camera1 using gstreamer.
go2rtc restreams the RTSP feed to the browser over WebRTC for the ARK-UI Video page.
ark-ui-backend, system-manager, service-manager, connection-manager, autopilot-manager are the REST APIs behind the ARK-UI (hidden from the Services page).
jetson-can brings up the Jetson CAN interface (can0).
Optional (installed, disabled by default)
Enable from the ARK-UI Services page or with systemctl enable --now <service>.
dds-agent bridges PX4 uORB topics to ROS 2 by running the Micro XRCE-DDS Agent on the high-speed serial connection to the flight controller (/dev/ttyTHS1 ↔ TELEM2, 3 Mbps). The bridged topics are defined in PX4's dds_topics.yaml. Set these PX4 parameters:
UXRCE_DDS_CFG
102
TELEM 2
SER_TEL2_BAUD
3000000
3 Mbps 8N1
logloader downloads PX4 .ulg flight logs from the flight controller's SD card over MAVLink FTP and optionally uploads them to Flight Review. Driven from the ARK-UI Logs page.
flight-review hosts a local PX4 Flight Review server at http://jetson.local/flight-review for the logs downloaded by logloader.
polaris receives network RTK corrections from the Point One Polaris service (subscription required) and publishes them to the flight controller over MAVLink.
pointperfect receives GNSS corrections from the u-blox PointPerfect NTRIP service and publishes them to the flight controller over MAVLink. For u-blox receivers it can also request AssistNow start-up assistance for a faster first fix.
rid-transmitter broadcasts Remote ID over Bluetooth per ASTM F3411 (requires a Bluetooth 5.x capable radio).
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