ros2docker 0.1.1__py3-none-any.whl

ros2docker/config.py

@@ -0,0 +1,316 @@
+"""Configuration loading and path resolution for ros2docker."""
+
+from __future__ import annotations
+
+import copy
+import json
+import os
+from collections.abc import Mapping, Sequence
+from functools import lru_cache
+from importlib import resources
+from pathlib import Path
+from typing import Any
+
+
+class ConfigError(ValueError):
+    """Raised when a ros2docker config is invalid."""
+
+
+DEFAULT_CONFIG: dict[str, Any] = {
+    "container_name": "ros2docker",
+    "image_name": "ros2docker",
+    "run_type": "bash",
+    "mount_ws": False,
+    "enable_gui_forwarding": False,
+    "forward_ssh_agent": False,
+    "run_args": [],
+    "extra_run_args": [],
+    "build_args": {},
+    "bake_ros_packages": [],
+}
+
+VALID_RUN_TYPES = {"bash", "catmux", "up", "command"}
+
+
+@lru_cache
+def public_config_keys() -> frozenset[str]:
+    """Return the supported top-level ros2docker config keys."""
+
+    schema_text = (
+        resources.files("ros2docker")
+        .joinpath("resources")
+        .joinpath("schema")
+        .joinpath("ros2docker.schema.json")
+        .read_text(encoding="utf-8")
+    )
+    schema = json.loads(schema_text)
+    properties = schema.get("properties", {})
+    if not isinstance(properties, dict):
+        raise ConfigError("ros2docker config schema must define object properties.")
+    return frozenset(str(key) for key in properties)
+
+
+def strip_json_comments(text: str) -> str:
+    """Remove C/C++ style comments while preserving string literals."""
+
+    output: list[str] = []
+    in_string = False
+    escape = False
+    i = 0
+
+    while i < len(text):
+        char = text[i]
+        next_char = text[i + 1] if i + 1 < len(text) else ""
+
+        if in_string:
+            output.append(char)
+            if escape:
+                escape = False
+            elif char == "\\":
+                escape = True
+            elif char == '"':
+                in_string = False
+            i += 1
+            continue
+
+        if char == '"':
+            in_string = True
+            output.append(char)
+            i += 1
+            continue
+
+        if char == "/" and next_char == "/":
+            i += 2
+            while i < len(text) and text[i] not in "\r\n":
+                i += 1
+            continue
+
+        if char == "/" and next_char == "*":
+            i += 2
+            while i + 1 < len(text) and not (text[i] == "*" and text[i + 1] == "/"):
+                i += 1
+            i += 2
+            continue
+
+        output.append(char)
+        i += 1
+
+    return "".join(output)
+
+
+def parse_override(override: str | Mapping[str, Any] | None) -> dict[str, Any]:
+    if override is None:
+        return {}
+    if isinstance(override, str):
+        try:
+            parsed = json.loads(strip_json_comments(override))
+        except json.JSONDecodeError as exc:
+            raise ConfigError(f"Invalid JSON override: {exc}") from exc
+    elif isinstance(override, Mapping):
+        parsed = dict(override)
+    else:
+        raise ConfigError(f"Override must be JSON text or a mapping, got {type(override).__name__}.")
+
+    if not isinstance(parsed, dict):
+        raise ConfigError("Override must decode to a JSON object.")
+    return parsed
+
+
+def get_config_dir(config_file: str | os.PathLike[str] | None = None) -> str:
+    if config_file is None:
+        return os.getcwd()
+    return str(_resolve_config_file(config_file).parent)
+
+
+def load_config(
+    config_file: str | os.PathLike[str] | None = None,
+    override: str | Mapping[str, Any] | None = None,
+    *,
+    resolve_run_args: bool = True,
+) -> dict[str, Any]:
+    config = copy.deepcopy(DEFAULT_CONFIG)
+    config_dir = Path.cwd()
+
+    if config_file is not None:
+        config_path = _resolve_config_file(config_file)
+        if not config_path.is_file():
+            raise FileNotFoundError(f"Config file not found: {config_path}")
+        config_dir = config_path.parent
+        try:
+            loaded = json.loads(strip_json_comments(config_path.read_text(encoding="utf-8")))
+        except json.JSONDecodeError as exc:
+            raise ConfigError(f"Invalid JSON in {config_path}: {exc}") from exc
+        if not isinstance(loaded, dict):
+            raise ConfigError(f"Config file must contain a JSON object: {config_path}")
+        _validate_public_config_keys(loaded)
+        config.update(loaded)
+
+    override_config = parse_override(override)
+    _validate_public_config_keys(override_config)
+    config.update(override_config)
+    _normalize_config_paths(config, config_dir, resolve_run_args=resolve_run_args)
+    _validate_config(config)
+    return config
+
+
+def _resolve_config_file(config_file: str | os.PathLike[str]) -> Path:
+    path = Path(os.path.expandvars(os.path.expanduser(os.fspath(config_file))))
+    if not path.is_absolute():
+        path = Path.cwd() / path
+    return path.resolve()
+
+
+def _validate_public_config_keys(config: Mapping[str, Any]) -> None:
+    unknown_keys = sorted(set(config) - public_config_keys())
+    if unknown_keys:
+        key = unknown_keys[0]
+        raise ConfigError(f"Unknown config key {key!r}. This key is not part of ros2docker core.")
+
+
+def _validate_config(config: Mapping[str, Any]) -> None:
+    run_type = config.get("run_type", "bash")
+    if run_type not in VALID_RUN_TYPES:
+        raise ConfigError(f"Unsupported run_type {run_type!r}. Expected one of: {', '.join(sorted(VALID_RUN_TYPES))}.")
+
+    for list_key in ("run_args", "extra_run_args", "bake_ros_packages"):
+        if not isinstance(config.get(list_key, []), list):
+            raise ConfigError(f"{list_key!r} must be a list.")
+
+    if not isinstance(config.get("build_args", {}), dict):
+        raise ConfigError("'build_args' must be a JSON object.")
+
+    if run_type == "catmux" and not config.get("catmux_file"):
+        raise ConfigError("'catmux_file' is required when run_type is 'catmux'.")
+
+    if run_type == "command":
+        command = config.get("command")
+        if not isinstance(command, str | list):
+            raise ConfigError("'command' must be a string or list when run_type is 'command'.")
+
+
+def _normalize_config_paths(config: dict[str, Any], config_dir: Path, *, resolve_run_args: bool) -> None:
+    if resolve_run_args:
+        config["run_args"] = normalize_docker_host_paths(config.get("run_args", []), config_dir)
+        config["extra_run_args"] = normalize_docker_host_paths(config.get("extra_run_args", []), config_dir)
+
+    bake_packages = []
+    for raw_path in config.get("bake_ros_packages", []):
+        resolved = resolve_host_path(raw_path, config_dir)
+        if not resolved.exists():
+            raise FileNotFoundError(f"bake_ros_packages path does not exist: {raw_path!r} (resolved to {resolved})")
+        if not resolved.is_dir():
+            raise NotADirectoryError(
+                f"bake_ros_packages path must be a directory: {raw_path!r} (resolved to {resolved})"
+            )
+        bake_packages.append(str(resolved))
+    config["bake_ros_packages"] = bake_packages
+
+
+def normalize_docker_host_paths(
+    args: Sequence[str],
+    base_dir: str | os.PathLike[str],
+) -> list[str]:
+    normalized: list[str] = []
+    i = 0
+    base_path = Path(base_dir)
+    args_list = list(args)
+
+    while i < len(args_list):
+        arg = args_list[i]
+
+        if arg in {"-v", "--volume"}:
+            if i + 1 >= len(args_list):
+                raise ConfigError(f"{arg} requires a following volume spec.")
+            normalized.extend([arg, normalize_volume_spec(args_list[i + 1], base_path)])
+            i += 2
+            continue
+
+        if arg.startswith("--volume="):
+            volume = arg.split("=", 1)[1]
+            normalized.append(f"--volume={normalize_volume_spec(volume, base_path)}")
+            i += 1
+            continue
+
+        if arg == "--mount":
+            if i + 1 >= len(args_list):
+                raise ConfigError("--mount requires a following mount spec.")
+            normalized.extend([arg, normalize_mount_spec(args_list[i + 1], base_path)])
+            i += 2
+            continue
+
+        if arg.startswith("--mount="):
+            mount = arg.split("=", 1)[1]
+            normalized.append(f"--mount={normalize_mount_spec(mount, base_path)}")
+            i += 1
+            continue
+
+        normalized.append(arg)
+        i += 1
+
+    return normalized
+
+
+def normalize_volume_spec(spec: str, base_dir: Path) -> str:
+    parts = spec.split(":")
+    if len(parts) < 2:
+        return spec
+
+    host_path = parts[0]
+    if not _looks_like_host_path(host_path):
+        return spec
+
+    resolved = resolve_host_path(host_path, base_dir)
+    parts[0] = str(resolved)
+    return ":".join(parts)
+
+
+def normalize_mount_spec(spec: str, base_dir: Path) -> str:
+    fields = spec.split(",")
+    parsed: list[str] = []
+    is_bind = any(field == "type=bind" for field in fields)
+
+    for field in fields:
+        key, sep, value = field.partition("=")
+        if is_bind and sep and key in {"source", "src"}:
+            parsed.append(f"{key}={resolve_host_path(value, base_dir)}")
+        else:
+            parsed.append(field)
+
+    return ",".join(parsed)
+
+
+def resolve_host_path(
+    raw_path: str | os.PathLike[str],
+    base_dir: str | os.PathLike[str],
+) -> Path:
+    text = os.fspath(raw_path)
+    expanded = os.path.expanduser(os.path.expandvars(text))
+    if "$" in expanded:
+        raise ConfigError(f"Could not expand environment variables in host path: {text!r}")
+
+    path = Path(expanded)
+    if _is_relative_path(text):
+        path = Path(base_dir) / expanded
+    elif not path.is_absolute() and _looks_like_host_path(text):
+        path = Path.cwd() / expanded
+
+    resolved = path.resolve()
+    if not resolved.exists():
+        raise FileNotFoundError(f"Host path does not exist: {text!r} (resolved to {resolved})")
+    return resolved
+
+
+def _is_relative_path(path: str) -> bool:
+    return path in {".", ".."} or path.startswith("./") or path.startswith("../")
+
+
+def _looks_like_host_path(path: str) -> bool:
+    expanded = os.path.expanduser(os.path.expandvars(path))
+    return (
+        path in {".", ".."}
+        or path.startswith("./")
+        or path.startswith("../")
+        or path.startswith("~")
+        or path.startswith("$")
+        or os.path.isabs(expanded)
+    )

ros2docker/resources/build/Dockerfile

@@ -0,0 +1,192 @@
+# Use the official image for ROS2 Lyrical under Ubuntu 26.04
+ARG BASE_IMAGE=osrf/ros:lyrical-desktop-full-resolute
+# Pin digests for reproducibility. Leave empty to use the latest image. The digest can be found on Docker Hub for the respective tag, e.g. for osrf/ros:lyrical-desktop-full-resolute
+# Default: Latest Digist as of 2026-06-10 for https://hub.docker.com/layers/osrf/ros/lyrical-desktop-full-resolute
+ARG DIGEST=@sha256:ac6471b5c13e57674d9660630d0cb140f518cb5ea6add7169e5dd91e16bf0b50
+
+FROM ${BASE_IMAGE}${DIGEST}
+
+##############################################################################
+# 1) Base Environment
+##############################################################################
+ARG TZ=Europe/Berlin
+ENV TZ=${TZ}
+RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone
+ENV LANG=C.UTF-8
+ENV LC_ALL=C.UTF-8
+ENV DEBIAN_FRONTEND=noninteractive
+
+##############################################################################
+# 2) Install Base Apt Dependencies
+##############################################################################
+RUN apt-get update && apt-get install -y \
+    tmux \
+    python3-pip \
+    python3-venv \
+    gosu \
+    ssh \
+    curl \
+    sudo \
+    vim \
+    git \
+    wget \
+    unzip \
+    moreutils \
+    ca-certificates \
+    build-essential \
+    libyaml-cpp-dev \
+    x11-apps \
+    iperf3 \
+    # ros-$ROS_DISTRO-domain-bridge \ not available in Lyrical yet. include soon!
+    ros-$ROS_DISTRO-foxglove-bridge \
+    ros-$ROS_DISTRO-foxglove-msgs \
+    ros-$ROS_DISTRO-topic-tools \
+    ros-$ROS_DISTRO-rmw-cyclonedds-cpp \
+    ros-$ROS_DISTRO-rmw-zenoh-cpp \
+    ros-$ROS_DISTRO-ffmpeg-image-transport \
+    ros-$ROS_DISTRO-foxglove-compressed-video-transport \
+    ros-$ROS_DISTRO-gps-msgs \
+    ros-$ROS_DISTRO-ament-copyright \
+    ros-$ROS_DISTRO-ament-flake8 \
+    ros-$ROS_DISTRO-ament-pep257 \
+ && rm -rf /var/lib/apt/lists/*
+
+##############################################################################
+# 2b) Custom overlay workspace – packages baked into the image
+#     (third-party source-only packages + project-specific bake_packages)
+#     Workspace chain: /opt/ros/$ROS_DISTRO → /opt/custom_ws/install
+##############################################################################
+ENV CUSTOM_WS=/opt/custom_ws
+
+# novatel_oem7_msgs: no binary deb for Kilted yet, build from source
+RUN mkdir -p ${CUSTOM_WS}/src \
+    && git clone --depth 1 --branch kilted \
+       https://github.com/novatel/novatel_oem7_driver.git \
+       ${CUSTOM_WS}/src/novatel_oem7_driver
+
+# bake_packages: project-specific ROS packages staged by build.py
+# from paths listed in config "bake_ros_packages"
+COPY bake_packages/ ${CUSTOM_WS}/src/
+
+RUN . /opt/ros/${ROS_DISTRO}/setup.sh \
+    && cd ${CUSTOM_WS} \
+    && colcon build --merge-install --packages-select novatel_oem7_msgs \
+    && rm -rf ${CUSTOM_WS}/src/novatel_oem7_driver \
+    && colcon build --merge-install \
+    && rm -rf ${CUSTOM_WS}/src ${CUSTOM_WS}/build ${CUSTOM_WS}/log
+
+# install zenoh and zenoh-plugin-ros2dds
+ARG ZENOH_VERSION=1.9.0
+ARG ZENOH_ROS2DDS_VERSION=${ZENOH_VERSION}
+ENV ZENOH_PLATFORM=x86_64-unknown-linux-gnu
+# Zenoh router
+# - see: https://download.eclipse.org/zenoh/zenoh/latest/
+RUN mkdir -p /opt/zenoh \
+    && wget -qO /tmp/zenoh.zip \
+         "https://download.eclipse.org/zenoh/zenoh/${ZENOH_VERSION}/zenoh-${ZENOH_VERSION}-${ZENOH_PLATFORM}-standalone.zip" \
+    && unzip -q /tmp/zenoh.zip -d /opt/zenoh \
+    && rm /tmp/zenoh.zip
+# ROS2 bridge plugin
+# - see: https://download.eclipse.org/zenoh/zenoh-plugin-ros2dds/latest/
+RUN mkdir -p /opt/zenoh/lib \
+    && wget -qO /tmp/zenoh-plugin-ros2dds.zip \
+         "https://download.eclipse.org/zenoh/zenoh-plugin-ros2dds/${ZENOH_ROS2DDS_VERSION}/zenoh-plugin-ros2dds-${ZENOH_ROS2DDS_VERSION}-${ZENOH_PLATFORM}-standalone.zip" \
+    && unzip -q /tmp/zenoh-plugin-ros2dds.zip -d /opt/zenoh \
+    && rm /tmp/zenoh-plugin-ros2dds.zip
+ENV PATH="/opt/zenoh:${PATH}"
+
+# mcap CLI for fast filtering of rosbags
+ARG MCAP_CLI_VERSION=0.0.62
+RUN curl -L https://github.com/foxglove/mcap/releases/download/releases%2Fmcap-cli%2Fv${MCAP_CLI_VERSION}/mcap-linux-amd64 -o /usr/local/bin/mcap \
+    && chmod +x /usr/local/bin/mcap
+
+# ##############################################################################
+# # 3) Setup shared directory
+# ##############################################################################
+# RUN groupadd --system shared && usermod -aG shared root
+# RUN mkdir -p /ros2ws && \
+#     chown root:shared /ros2ws && \
+#     chmod g+rwXs /ros2ws
+# RUN echo 'umask 002' >> /etc/profile.d/umask.sh
+# RUN setfacl -d -m g::rwx /ros2ws
+
+##############################################################################
+# 5) Setup Virtual Python Environment
+##############################################################################
+ENV PYTHON_VENV_PATH=/opt/ros_venv
+RUN python3 -m venv $PYTHON_VENV_PATH --system-site-packages
+ENV PATH="$PYTHON_VENV_PATH/bin:$PATH"
+# set PYTHONPATH to include the venv site-packages. Hacky but might be required.
+# RUN VENV_SITE="$("$PYTHON_VENV_PATH/bin/python" -c 'import sysconfig; print(sysconfig.get_path("purelib"))')" \
+#  && ln -sfn "$VENV_SITE" "$PYTHON_VENV_PATH/site-packages"
+# ENV PYTHONPATH="${PYTHON_VENV_PATH}/site-packages"
+
+##############################################################################
+# 6) Install Base Pip Dependencies
+##############################################################################
+RUN pip install --no-cache-dir --upgrade pip && \
+    pip install --no-cache-dir \
+        PyYAML \
+        catmux \
+        rosbags
+
+##############################################################################
+# 7) Hotfix: Replace deprecated rosdep version shipped with ROS 2 Jazzy image
+##############################################################################
+# The base image includes an outdated rosdep installed via APT,
+# which uses the deprecated 'pkg_resources' API and causes a DeprecationWarning.
+# To avoid this warning, we remove the APT version and install the latest rosdep via pip.
+RUN apt-get remove -y python3-rosdep && \
+    pip install --no-cache-dir --upgrade rosdep
+
+##############################################################################
+# 8) Install user-specified APT dependencies
+##############################################################################
+ARG APT_PACKAGES=""
+RUN if [ -n "${APT_PACKAGES}" ]; then \
+        apt-get update && \
+        apt-get install -y ${APT_PACKAGES} && \
+        rm -rf /var/lib/apt/lists/*; \
+    fi
+
+##############################################################################
+# 9) Install user-specified Python packages
+##############################################################################
+ARG PIP_PACKAGES=""
+RUN if [ -n "${PIP_PACKAGES}" ]; then \
+        pip install --no-cache-dir ${PIP_PACKAGES}; \
+    fi
+
+##############################################################################
+# 10) Environment settings
+##############################################################################
+RUN echo "source ${PYTHON_VENV_PATH}/bin/activate" >> /root/.bashrc
+RUN echo "source ${CUSTOM_WS}/install/setup.bash" >> /root/.bashrc
+RUN echo '[ -f /ros2ws/install/setup.bash ] && source /ros2ws/install/setup.bash' >> /root/.bashrc
+RUN echo 'alias catmux="tmux -L catmux"' >> /root/.bashrc
+ENV ROS_AUTOMATIC_DISCOVERY_RANGE=LOCALHOST
+ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+ENV SHELL=/bin/bash
+SHELL ["/bin/bash", "-c"]
+
+##############################################################################
+# 11) EntryPoint
+##############################################################################
+COPY entrypoint.sh /entrypoint.sh
+RUN chmod +x /entrypoint.sh
+ENTRYPOINT ["/entrypoint.sh"]
+
+##############################################################################
+# 12) Create Non-Root User
+##############################################################################
+ARG USER_UID=1000
+ARG USER_GID=$USER_UID
+ENV CONTAINER_USERNAME=containeruser
+RUN userdel -r $(id -un 1000) \
+    && groupadd --gid "$USER_GID" "$CONTAINER_USERNAME" \
+    && useradd --uid "$USER_UID" --gid "$USER_GID" -m "$CONTAINER_USERNAME" \
+    && echo "$CONTAINER_USERNAME ALL=(ALL) NOPASSWD:ALL" > /etc/sudoers.d/$CONTAINER_USERNAME \
+    && chmod 0440 /etc/sudoers.d/$CONTAINER_USERNAME \
+    && cp /root/.bashrc "/home/$CONTAINER_USERNAME/.bashrc" \
+    && chown "$USER_UID:$USER_GID" "/home/$CONTAINER_USERNAME/.bashrc"
+    # && usermod -aG shared "$CONTAINER_USERNAME" \

ros2docker/resources/build/entrypoint.sh

@@ -0,0 +1,72 @@
+#!/bin/bash
+set -e
+
+if [[ "${ROS2DOCKER_TRACE:-0}" == "1" ]]; then
+    set -x
+fi
+
+echo "**** Entrypoint script starting ****"
+
+source "${CUSTOM_WS}/install/setup.bash"
+
+source_ros2_workspace() {
+    local setup_file="$1"
+    if [[ ! -f "$setup_file" ]]; then
+        return 0
+    fi
+
+    source "$setup_file"
+    echo "Sourced ROS 2 workspace overlay: $setup_file"
+}
+
+if [ -d "/ws/ros2src" ]; then
+    echo "ROS 2 workspace found at /ws/ros2src"
+
+    sudo mkdir -p /ros2ws
+    sudo chown "$CONTAINER_USERNAME":"$CONTAINER_USERNAME" /ros2ws
+
+    if [[ -L /ros2ws/src ]]; then
+        ln -sfn /ws/ros2src /ros2ws/src
+    elif [[ -e /ros2ws/src ]]; then
+        echo "/ros2ws/src already exists and is not a symlink."
+        exit 1
+    else
+        ln -s /ws/ros2src /ros2ws/src
+    fi
+
+    if [[ "${CHECK_ROS2WS_DEPENDENCIES:-0}" == "1" ]]; then
+        echo "Checking for missing dependencies..."
+        # sudo /opt/ros_venv/bin/pip install --upgrade rosdep # not sure if needed
+        rosdep update --rosdistro "${ROS_DISTRO}"
+        if rosdep install --from-paths /ros2ws/src --ignore-src --simulate; then
+            echo "All dependencies are satisfied."
+        else
+            echo "Dependencies are missing. See rosdep output above."
+            exit 1
+        fi
+    else
+        echo "Skipping dependency check."
+    fi
+
+    if [[ "${BUILD_ROS2WS:-0}" == "1" ]]; then
+        echo "Building ROS 2 workspace..."
+        pushd /ros2ws >/dev/null
+        colcon_args=()
+        if [[ "${ROS2WS_SYMLINK_INSTALL:-1}" == "1" ]]; then
+            colcon_args+=(--symlink-install)
+        fi
+        if [[ "${ROS2WS_SUPPRESS_UNUSED_CMAKE_WARNINGS:-1}" == "1" ]]; then
+            colcon_args+=(--cmake-args --no-warn-unused-cli)
+        fi
+        colcon build "${colcon_args[@]}"
+        popd >/dev/null
+    else
+        echo "Skipping building ROS 2 workspace."
+    fi
+
+    source_ros2_workspace /ros2ws/install/setup.bash
+else
+    echo "No ROS 2 workspace found at /ws/ros2src. Skipping"
+fi
+
+exec "$@"

ros2docker/resources/examples/ros2docker.json

@@ -0,0 +1,51 @@
+{
+  // Run settings
+  "container_name": "example_ros2container",
+  "image_name": "ros2docker",
+
+  // Supported run types:
+  //   "bash"    - interactive shell
+  //   "command" - run the configured command
+  //   "catmux"  - start a catmux session
+  //   "up"      - detached keepalive container
+  "run_type": "catmux",
+
+  // Used when run_type = "catmux".
+  "catmux_file": "/ws/catmux.yaml",
+  "catmux_params": {
+    "mock_param": "mock_value"
+  },
+
+  // Used when run_type = "command". String and argv-list forms are supported.
+  "command": ["ros2", "topic", "list"],
+
+  // Mount the config-adjacent ws directory into /ws.
+  "mount_ws": true,
+
+  // Enable X11 forwarding through /tmp/.X11-unix.
+  "enable_gui_forwarding": false,
+  "forward_ssh_agent": false,
+
+  // Extra docker run arguments.
+  "run_args": [
+    // "-e", "ROS_AUTOMATIC_DISCOVERY_RANGE=LOCALHOST", // (default)
+    // "-e", "RMW_IMPLEMENTATION=rmw_cyclonedds_cpp", // (default)
+    // "-e", "ROS_DOMAIN_ID=0", // (default)
+    // If /ws/ros2src exists, BUILD_ROS2WS uses symlink-install and sources
+    // /ros2ws/install/setup.bash before the configured command starts.
+    "-e", "BUILD_ROS2WS=1",
+    "-e", "CHECK_ROS2WS_DEPENDENCIES=1"
+  ],
+  "extra_run_args": [],
+
+  // ROS packages to pre-build into the Docker image, relative to this config.
+  // These are installed into /opt/ros/$ROS_DISTRO so every container gets them without
+  // needing them in each workspace's ros2src/.
+  "bake_ros_packages": [],
+
+  // Optional Docker build arguments.
+  "build_args": {
+    "APT_PACKAGES": "git wget curl",
+    "PIP_PACKAGES": "pytest pytest-cov"
+  }
+}