A preliminary version of this framework was published in
Melo P, Arrais R, Teixeira S, Veiga G. A Container-Based Framework for Developing ROS Applications.
You can find the paper here.
If you use Rigel as part of your work, please cite this paper. Here follows a BibTeX entry:
@INPROCEEDINGS{9976083,
author={Melo, Pedro and Arrais, Rafael and Teixeira, Sérgio and Veiga, Germano},
booktitle={2022 IEEE 20th International Conference on Industrial Informatics (INDIN)},
title={A Container-Based Framework for Developing ROS Applications},
year={2022},
volume={},
number={},
pages={280-285},
doi={10.1109/INDIN51773.2022.9976083}
}