29. starling-controller-base¶

This image contains the minimal dependency requirements for a user to implement their own controller. In particular it contains a number of automated steps to aid in setup.

This image acts as a base to build controllers

29.1 /ros.env.d¶

To ease the expansion of this image, a mechanism has been built to enable expansion by volume mount.

As part of the entrypoint, the image will look for any folders in /ros.env.d that contain a setup.bash file.

Any such file will be sourced as part of the entrypoint. This allows for arbitrary expansion of the entrypoint by adding additional volume mounts.

29.2 Environment Variables¶

Name	Default Value	Description
USE_SIMULATED_TIME	false	A variable which can be used in ros2 launch scripts to toggle the use_sim_time parameter of a ros node.