Merge pull request #15 from apockill/main

Add support for running the project within a Docker container

Dockerfile

@@ -0,0 +1,44 @@
+ARG BASE_IMAGE
+
+FROM ${BASE_IMAGE}
+
+# For this build, we pull the entire ros image, and then merge the filesystem
+# with the nvidia/opengl image, so that displaying to the screen on GPU
+# (or without GPU) works through docker.
+# I was unable to use the ROS_DISTRO variable here due to this issue:
+# https://github.com/docker/for-mac/issues/2155
+COPY --from=osrf/ros:kinetic-desktop-full / /
+
+# Add ROS env vars to the bashrc
+ENV BASH_ENV="/root/launch.sh"
+SHELL ["/bin/bash", "-c"]
+ENTRYPOINT ["/bin/bash", "-c"]
+ARG ROS_DISTRO
+RUN echo "source /opt/ros/${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

README.md

@@ -18,9 +18,39 @@
 
 Download ROS [http://wiki.ros.org/ROS/Installation](http://wiki.ros.org/ROS/Installation)
 
-## 1. Installation
 
-### 1.1 Pre-Requriements
+## 1. Installation
+### Option 1: Docker
+There are two ways to run this project. The first is by running the project in a container, and this requires
+[installing docker](https://docs.docker.com/engine/install/ubuntu/) and
+[installing docker-compose](https://docs.docker.com/compose/install/). The benefit of running in the container is that you can run the project in any version of linux, as long as your kernel
+is new enough. 
+
+Once docker is installed, run the following command, and the project should show up:
+
+```
+docker-compose build ros && xhost +local:root && docker-compose up ros
+```
+
+This command does three things:
+1) `docker-compose build ros`
+   
+   This builds the project in a container. That means nothing is installed on your host machine!
+   The first time this runs, this command will take a long while. After running it once, caching 
+   will allow this command to run quickly.
+   
+2) `xhost +local:root`
+
+   This command gives X the ability to display GUI's from within the docker container
+
+3) `docker-compose up ros`
+
+   This runs the image specified in the `docker-compose.yml`, which by default runs
+   the command `roslaunch myCobotROS control_slider.launch` within the container.
+   
+
+### Option 2: Local
+#### 1.1 Pre-Requriements
 
 For using this package, the [Python api](https://github.com/elephantrobotics/pymycobot.git) library should be installed first.
 
@@ -28,7 +58,7 @@ For using this package, the [Python api](https://github.com/elephantrobotics/pym
 pip install pymycobot --user
 ```
 
-### 1.2 Package Download and Install
+#### 1.2 Package Download and Install
 
 Install ros package in your src folder of your Catkin workspace.
 
@@ -39,7 +69,7 @@ $ cd ~/catkin_ws
 $ catkin_make
 ```
 
-### 1.3 Test Python API
+#### 1.3 Test Python API
 
 ```bash
 cd ~/catkin_ws/src/myCobotROS

docker-compose.yml

@@ -0,0 +1,31 @@
+version: '3.4'
+
+x-app: &common
+  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: &common-args
+      ROS_DISTRO: "kinetic"
+      PYMYCOBOT_VERSION: ">=2<3"
+      BASE_IMAGE: nvidia/opengl:1.1-glvnd-runtime-ubuntu18.04
+
+
+services:
+  # This configuration builds the project for computers with NVIDIA hardware
+  nvidia-ros: *common
+
+  # This is the default for computers that don't have nvidia hardware accelerators
+  ros:
+    <<: *common
+    build:
+      context: .
+      args:
+        <<: *common-args
+        BASE_IMAGE: ubuntu:18.04