launch-ros-sandbox

A sandboxing plugin for launch_ros

Link to documentation

Installing

Install the project as a python package:

$ python3 setup.py install --user

Check that your user is in the Docker user group:

$ groups

If you dont see docker, then add your user to the Docker group:

$ sudo usermod -aG docker $USER

Usage

A working example is provided in examples/minimal_sandboxed_node_container.launch.py.

$ ./examples/minimal_sandboxed_node_container.py

Creating a sandboxed node is very similar to creating a regular launch file.

Add a SandboxedNodeContainer() action like you would with a regular launch file, but make sure to provide the sandbox_name and policy. Adding nodes is also similar to regular launch files, however, you should use launch_ros_sandbox.descriptions.SandboxedNode() instead.

A launch file with nodes running as a certain user would look like:

   def generate_launch_description() -> launch.LaunchDescription:
      ld = launch.LaunchDescription()

      ld.add_action(
        	launch_ros_sandbox.actions.SandboxedNodeContainer(
            	sandbox_name='my_sandbox',
            	policy=UserPolicy(run_as=User.from_username('dashing')),
            	node_descriptions=[
            		launch_ros_sandbox.descriptions.SandboxedNode(
                    	package='demo_nodes_cpp', node_executable='talker'),
                	launch_ros_sandbox.descriptions.SandboxedNode(
                    	package='demo_nodes_cpp', node_executable='listener')
            	]
        	)
    	)

License

This library is licensed under the Apache 2.0 License.

Build Status

This stack supports the following ROS 2 releases:

• Dashing

ROS 2 Release	Development	Source Debian Package	X86-64 Debian Package	ARM64 Debian Package	ARMHF Debian package
Dashing				N/A	N/A

Changelog for package launch_ros_sandbox

0.0.1 (2019-09-13)

• Initial release. Provide Sandboxing functionality launch actions
• Contributors: Anas Abou Allaban, Devin Bonnie, Emerson Knapp, Zachary Michaels