Create Builds with Robotair

Estimated time to read: 4 minutes

This guide walks you through packaging and automating your ROS application into container images using Robotair. You’ll configure build settings, handle dependencies, and generate CI pipelines ready to push secure, signed images to your container registry.

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Prerequisites

Before you begin, ensure:

• You have a working ROS 1 or ROS 2 application in a Git repository.
• You have access to Robotair and a container registry (e.g., Docker Hub, GitLab, or private).

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1. Prepare Your Repository

1. Clone your project

git clone <link/to/ros/repository>

1. Create a CI configuration branch

git checkout -b ci/robotair

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2. Create a New Build on Robotair

1. Log into your Robotair account and navigate to the Builds section.
2. Click Create New Build to launch the wizard.

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3. Configure and Containerize Your Application

Step 1: Set Build Parameters

• Choose a name and ROS version (e.g., Noetic, Humble, Jazzy).
• Click Next to proceed.

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Step 2: Define Build Requirements

• Base Image: Select OSRF default or custom base image.
• Compiler: Choose your toolchain.
• Startup Command: Define the entry point of your application.

!!! example Examples: - ros2 launch my_pkg start.launch.py - ros2 run my_pkg main_node - bash start.sh

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Step 3: Add Dependencies

• System dependencies (APT): defined in package.xml.
• Python packages:

pip freeze > requirements.txt

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Step 4: Configure Secure Git Access

If your repo includes private dependencies:

• Add SSH Deploy Keys:

• Hostname: e.g., github.com or gitlab.example.com

• Secret Name: e.g., SSH_KEYS

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Step 5: Manage ROS Package Dependencies

• Add a .repos or .rosinstall file:

vcs export > ros_dependencies.repos

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Step 6: Define Startup Commands

• Provide the startup commands (in sequence) to initialize your ROS app.

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4. Package the Application

Step 1: Set Image Configuration

• Image Name: e.g., myrobot/app:latest
• Architecture: amd64 or arm64

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Step 2: Add Registry Credentials

• Registry URL: (e.g., DockerHub or private registry)
• Username
• Password Secret: Use a CI/CD secret like REGISTRY_PASSWORD

Warning

Never enter passwords directly store them as CI/CD secrets to avoid plaintext exposure.

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5. Generate and Review CI Files

• Review your build configuration.
• Click Create to generate the CI pipeline and metadata files.

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6. Integrate with GitHub or GitLab

Step 1: Download and Place CI Files

• GitHub:

• Place main.yaml in .github/workflows/

• Place Rigelfile at the root of your repo

• GitLab:

• Rename and place gitlab-ci.yaml as .gitlab-ci.yml

• Place Rigelfile at repo root

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Step 2: Add Secrets

• In your repo settings:

• REGISTRY_PASSWORD: registry access secret

• SSH_KEYS: deploy key for private dependencies

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Step 3: Push Your Build Configuration

git add --all
git commit -m "ci: Add Robotair build configuration"
git push origin ci/robotair

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Step 4: Monitor the CI Build

• Once you merge to main, the CI will build and push the image automatically.
• You’ll see the container appear in your registry and ready to deploy with Robotair.