ubuntu24-x86_64-ros2.yml

image:
  name: edge-os-image-ubuntu
  version: "24.04"

target:
  os: ubuntu
  dist: ubuntu24
  arch: x86_64
  imageType: raw

# Sample list of additional package repositories; replace codename, url, and pkey values as needed
packageRepositories:  
  # ros 2
  - codename: "noble"
    url: "http://packages.ros.org/ros2/ubuntu"
    pkey: "https://raw.githubusercontent.com/ros/rosdistro/master/ros.key"
    # pkey: "[trusted=yes]"
    component: "main"  

systemConfig:
  name: edge
  description: edge ubuntu image with immutable rootfs

  immutability:
    enabled: true # default is true
    # To enable Secure Boot, provide the actual file paths for your environment below and uncomment the relevant lines.
    # secureBootDBKey: "<SECURE_BOOT_DB_KEY_PATH>"
    # secureBootDBCrt: "<SECURE_BOOT_DB_CRT_PATH>"
    # secureBootDBCer: "<SECURE_BOOT_DB_CER_PATH>"

  packages:
    - ubuntu-minimal
    - systemd-boot
    - dracut-core
    - systemd
    - cryptsetup-bin
    - openssh-server
    - systemd-resolved
    - systemd-timesyncd
    # ROS2
    - ros-jazzy-ros-base
    - ros-jazzy-rmw-cyclonedds-cpp
    - ros-jazzy-demo-nodes-py

  kernel:
    version: "6.17"
    cmdline: "console=ttyS0,115200 console=tty0 loglevel=7"
    packages:
      - linux-image-generic-hwe-24.04
  
  configurations:
    # Create ROS data directories with full permissions
    - cmd: "mkdir -p /opt/ros-data/log"
    - cmd: "mkdir -p /opt/ros-data/tmp"
    - cmd: "chmod -R 777 /opt/ros-data"

    # Add basic environment variables to /etc/environment (optional, for non-shell processes)
    - cmd: "echo 'ROS_HOME=/opt/ros-data' >> /etc/environment"
    - cmd: "echo 'ROS_LOG_DIR=/opt/ros-data/log' >> /etc/environment"
    - cmd: "echo 'TMPDIR=/opt/ros-data/tmp' >> /etc/environment"
    - cmd: "echo 'RMW_IMPLEMENTATION=rmw_cyclonedds_cpp' >> /etc/environment"