README.md

Base image

This image contains ROS installed. It is used as base image for the other images.

Environment variables

The following environment variables are defined in the image:

Variable	Description
USER_NAME	User name of the user with sudo privileges
USER_HOME	Home directory of the user
USER_WORKSPACE	ROS Workspace directory of the user
ROS_DISTRO	ROS distro

The following environment variables are defined in the image and can be used to configure the image:

Launch configuration

Variable	Description	Default value
ROS_SETUP_FILES	Additional setup files to source divided by :	""
STARTUP_TYPE	Type of startup, one of generic, launch, run, rosmon, graphical	generic
ROS_BU_PKG	ROS package to bring up	""
ROS_BU_LAUNCH	ROS launch file to bring up	""
GEN_COMMAND	Generic command to run	sleep infinity

Note: The STARTUP_TYPE, ROS_BU_PKG, ROS_BU_LAUNCH, and GEN_COMMAND variables are ignored if command is passed to the container.

Interface configuration

Variable	Description	Default value
POWERLINE	Use of the powerline prompt on bash	false

Requirements configuration

Variable	Description	Default value
CHECK_NODES	Boolean to check if the nodes are running	false
NODES_TO_CHECK	Space separted node list with full namespace	""

Healthcheck configuration

Variable	Description	Default value
HEALTHCHECK_EXEC	Script or command to execute to check if the container is healthy	ros_healthcheck.sh
HEALTHCHECK_NODES	Space separated node list with full namespace	""

ROS1 configuration

Variable	Description	Default value
ROS_MASTER_URI	URI of the ROS master	None
ROS_HOSTNAME	Hostname of the ROS node	None
ROS_IP	IP of the ROS node	None

ROS2 configuration

Variable	Description	Default value
ROS_DOMAIN_ID	Domain ID of the ROS node	0
RMW_IMPLEMENTATION	RMW implementation	rmw_cyclonedds_cpp
RCUTILS_COLORIZED_OUTPUT	Enable colorized output	1
RCUTILS_LOGGING_USE_STDOUT	Enable logging to stdout	1
RCUTILS_LOGGING_BUFFERED_STREAM	Enable buffered logging	1
RCUTILS_CONSOLE_OUTPUT_FORMAT	Format of the console output	None

Installed scripts

The following scripts are installed in the image:

Script	Description
ros_healthcheck.sh	Script to check if the container is healthy
ros_entrypoint.sh	Entrypoint script to start the container
env_loader.sh	Script to load ROS environment variables

Custom entrypoint scripts

All scripts in the ros_entrypoint.d directory are executed in alphabetical order. The scripts must be executable and have the .sh extension.

Installed packages

Please refer to requirements folder for more information about the installed packages.