Working with ROS initial example

Working with ROS/README.md

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+# Working with ROS
+
+This application demonstrates how to set up ROS working environment.
+
+## Setup
+
+Application should use Docker image that has ROS preinstalled (or installs it as specified in custom Dockerfile). This can be for example one of the official ROS images.
+To enable visibility of ROS system libraries while running the App, you can update `pre_launch` configuration in `robotapp.toml` in following way:
+`pre_launch = "export ROS_DOMAIN_ID=30\n. /opt/ros/$ROS_DISTRO/setup.sh\n. /ws/install/setup.sh"`
+- `export ROS_DOMAIN_ID=30` - setting up correct ROS domaind ID when running
+- `. /opt/ros/$ROS_DISTRO/setup.sh` - sourcing main ROS install
+- `. /ws/install/setup.sh` - sourcing custom ROS package
+
+In the App itself you can either create your own Python nodes via rclpy, or launch other nodes, for example via using separate bash script.

Working with ROS/app.py

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+import os
+import signal
+import subprocess
+from robothub import BaseApplication
+
+class Application(BaseApplication):
+    def __init__(self):
+        super().__init__()
+        self.ros_proc = None
+    def on_start(self):
+        env = dict(os.environ)
+        self.ros_proc = subprocess.Popen(
+            "bash -c 'chmod +x /app/start_ros.sh ; /app/start_ros.sh'", shell=True, env=env, preexec_fn=os.setsid
+        )
+    def on_stop(self):
+        if self.ros_proc is not None:
+            pgid = os.getpgid(self.ros_proc.pid)
+            os.killpg(pgid, signal.SIGTERM)
+

Working with ROS/robotapp.toml

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+config_version = "2.0"
+configuration = []
+
+[info]
+name = "ROS App"
+description = "ROS App environment"
+
+[runtime]
+application = "app.py#Application"
+workdir = "/app"
+pre_launch = "export ROS_DOMAIN_ID=30\n. /opt/ros/$ROS_DISTRO/setup.sh\n. /ws/install/setup.sh"
+
+
+[runtime.frontend]
+redirectToIndex = true
+
+[runtime.runs_on]
+type = "image"
+name = "ros:humble-ros-base"

Working with ROS/start_ros.sh

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+#!/bin/bash
+set -e
+
+# setup ros environment
+source "/opt/ros/$ROS_DISTRO/setup.bash"
+source "/ws/install/setup.bash"
+
+export ROS_DOMAIN_ID=30 # setup domain id
+# Add your custom launch file here 
+# ros2 launch demo_nodes_cpp talker_listener.launch.py