From 2dce959122ffedc764ff20d3a59fd290443f6a58 Mon Sep 17 00:00:00 2001
From: Alex <alex.thiel@aotu.ai>
Date: Sun, 11 Apr 2021 21:32:01 -0700
Subject: [PATCH] Added first working version of docker environment

---
 Dockerfile         | 47 ++++++++++++++++++++++++++++++++++++++++++++++
 docker-compose.yml | 19 +++++++++++++++++++
 2 files changed, 66 insertions(+)
 create mode 100644 Dockerfile
 create mode 100644 docker-compose.yml

diff --git a/Dockerfile b/Dockerfile
new file mode 100644
index 0000000..654db19
--- /dev/null
+++ b/Dockerfile
@@ -0,0 +1,47 @@
+ARG UBUNTU_VERSION
+FROM nvidia/opengl:1.1-glvnd-runtime-ubuntu${UBUNTU_VERSION}
+
+# Add ROS ppa
+RUN apt-get update && apt-get install -y --no-install-recommends gnupg2 lsb-release && \
+    echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list && \
+    apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+
+# DEBIAN_FRONTEND is so tzdata doesn't require user input during the apt install
+ENV DEBIAN_FRONTEND=noninteractive
+ARG ROS_DISTRO
+RUN apt-get update && \
+    apt-get install -y ros-${ROS_DISTRO}-desktop-full --no-install-recommends && \
+    rm -rf /var/lib/apt/lists/*
+
+# Add ROS env vars to the bashrc
+ENV BASH_ENV="/root/launch.sh"
+SHELL ["/bin/bash", "-c"]
+ENTRYPOINT ["/bin/bash", "-c"]
+RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> $BASH_ENV
+
+# Install build dependencies
+RUN apt-get update && \
+    apt-get install -y \
+        # ROS Build dependencies
+        python-rosinstall \
+        python-rosinstall-generator \
+        python-wstool \
+        build-essential \
+        # Project-specific build dependencies
+        python-pip \
+        ros-${ROS_DISTRO}-serial \
+        ros-${ROS_DISTRO}-joint-state-publisher-gui && \
+    rm -rf /var/lib/apt/lists/*
+
+# Install python dependencies
+ARG PYMYCOBOT_VERSION
+RUN pip install "pymycobot $PYMYCOBOT_VERSION" --user
+
+# Build the project
+WORKDIR /catkin_ws/src
+ADD . myCobotROS
+WORKDIR /catkin_ws
+RUN catkin_make
+
+# Let ROS know about the projects launch options
+RUN echo "source /catkin_ws/devel/setup.bash" >> $BASH_ENV
diff --git a/docker-compose.yml b/docker-compose.yml
new file mode 100644
index 0000000..4970052
--- /dev/null
+++ b/docker-compose.yml
@@ -0,0 +1,19 @@
+version: '3'
+
+services:
+  ros:
+    image: elephantrobotics/myCobotROS
+    command: ["roslaunch myCobotROS control_slider.launch"]
+    privileged: true
+    environment:
+      PYTHONUNBUFFERED: 1
+      QT_X11_NO_MITSHM: 1
+      DISPLAY: :1
+    volumes:
+      - "/tmp/.X11-unix:/tmp/.X11-unix:rw"
+    build:
+      context: .
+      args:
+        UBUNTU_VERSION: "16.04"
+        ROS_DISTRO: "kinetic"
+        PYMYCOBOT_VERSION: ">=2<3"