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Update content.md #2535

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6 changes: 3 additions & 3 deletions ros/content.md
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Original file line number Diff line number Diff line change
Expand Up @@ -22,7 +22,7 @@ RUN apt-get update && apt-get install -y \
rm -rf /var/lib/apt/lists/*

# launch ros package
CMD ["ros2", "launch", "demo_nodes_cpp", "talker_listener_launch.py"]
CMD ["ros2", "launch", "demo_nodes_cpp", "talker_listener.launch.py"]
```

Note: all ROS images include a default entrypoint that sources the ROS environment setup before executing the configured command, in this case the demo packages launch file. You can then build and run the Docker image like so:
Expand Down Expand Up @@ -102,7 +102,7 @@ RUN sed --in-place --expression \
/ros_entrypoint.sh

# run launch file
CMD ["ros2", "launch", "demo_nodes_cpp", "talker_listener_launch.py"]
CMD ["ros2", "launch", "demo_nodes_cpp", "talker_listener.launch.py"]
```

The example above starts by using [`vcstool`](https://github.com/dirk-thomas/vcstool) to clone source repos of interest into the cacher stage. One could similarly `COPY` code from the local build context into the source directory as well. Package manifest files are then cached in a temporary directory where the following builder stage may copy from to install necessary dependencies with [`rosdep`](https://github.com/ros-infrastructure/rosdep). This is done prior to copying the rest of the source files to preserve the multi-stage build cache, given unaltered manifests do not alter declared dependencies, saving time and bandwidth. The overlay is then built using [`colcon`](https://colcon.readthedocs.io/en/released/), the entrypoint updated to source the workspace, and the default command set to launch the demo.
Expand Down Expand Up @@ -217,7 +217,7 @@ RUN apt-get update && apt-get install -y \
rm -rf /var/lib/apt/lists/*

# launch ros package
CMD ["roslaunch", "roscpp_tutorials", "talker_listener_launch"]
CMD ["roslaunch", "roscpp_tutorials", "talker_listener.launch"]
```

The compose file bellow spawns services for both talker listener demos while connecting the two via a dynamic bridge. You may then view the log output from both pairs of talker and listener nodes cross talking over the `/chatter` topic.
Expand Down