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

Contributing Guidelines

Thank you for your interest in contributing to our project. Whether it’s a bug report, new feature, correction, or additional documentation, we greatly value feedback and contributions from our community.

Please read through this document before submitting any issues or pull requests to ensure we have all the necessary information to effectively respond to your bug report or contribution.

Reporting Bugs/Feature Requests

We welcome you to use the GitHub issue tracker to report bugs or suggest features.

When filing an issue, please check existing open, or recently closed, issues to make sure somebody else hasn’t already reported the issue. Please try to include as much information as you can. Details like these are incredibly useful:

• A reproducible test case or series of steps
• The version of our code being used
• Any modifications you’ve made relevant to the bug
• Anything unusual about your environment or deployment

Contributing via Pull Requests

Contributions via pull requests are much appreciated. Before sending us a pull request, please ensure that:

1. You are working against the latest source on the master branch.
2. You check existing open, and recently merged, pull requests to make sure someone else hasn’t addressed the problem already.
3. You open an issue to discuss any significant work - we would hate for your time to be wasted.

To send us a pull request, please:

1. Fork the repository.
2. Modify the source; please focus on the specific change you are contributing. If you also reformat all the code, it will be hard for us to focus on your change.
3. Ensure local tests pass.
4. Commit to your fork using clear commit messages.
5. Send us a pull request, answering any default questions in the pull request interface.
6. Pay attention to any automated CI failures reported in the pull request, and stay involved in the conversation.

GitHub provides additional document on forking a repository and creating a pull request.

Finding contributions to work on

Looking at the existing issues is a great way to find something to contribute on. As our projects, by default, use the default GitHub issue labels (enhancement/bug/duplicate/help wanted/invalid/question/wontfix), looking at any ‘help wanted’ issues is a great place to start.

Code of Conduct

This project has adopted the Amazon Open Source Code of Conduct. For more information see the Code of Conduct FAQ or contact opensource-codeofconduct@amazon.com with any additional questions or comments.

Security issue notifications

If you discover a potential security issue in this project we ask that you notify AWS/Amazon Security via our vulnerability reporting page. Please do not create a public github issue.

Licensing

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:

5. Submission of Contributions. Unless You explicitly state otherwise,
   any Contribution intentionally submitted for inclusion in the Work
   by You to the Licensor shall be under the terms and conditions of
   this License, without any additional terms or conditions.
   Notwithstanding the above, nothing herein shall supersede or modify
   the terms of any separate license agreement you may have executed
   with Licensor regarding such Contributions.

We may ask you to sign a Contributor License Agreement (CLA) for larger changes.