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A sandboxing plugin for launch_ros
Install the project as a python package:
$ python3 setup.py install --user
Check that your user is in the Docker user group:
If you dont see
docker, then add your user to the Docker group:
$ sudo usermod -aG docker $USER
A working example is provided in examples/minimal_sandboxed_node_container.launch.py.
Creating a sandboxed node is very similar to creating a regular launch file.
SandboxedNodeContainer() action like you would with a regular launch file, but make sure to provide the
Adding nodes is also similar to regular launch files, however, you should use
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') ] ) )
This library is licensed under the Apache 2.0 License.
This stack supports the following ROS 2 releases:
|ROS 2 Release||Development||Source Debian Package||X86-64 Debian Package||ARM64 Debian Package||ARMHF Debian package|
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