added dockerfile and documentation

docker/.dockerignore

+Dockerfile

docker/Dockerfile

+FROM ros:noetic-ros-core
+
+RUN sed -i 's/^deb/deb [trusted=yes]/' /etc/apt/sources.list.d/ros1-latest.list
+
+# update and install dependencies
+RUN apt-get update && apt-get upgrade -y && apt-get install -y \
+    python3-osrf-pycommon \
+    python3-catkin-tools \
+    build-essential \
+    protobuf-compiler \
+    libprotobuf-dev \
+    python3-rosdep \
+    tree
+
+# update rosdep dependencies manually to speed up process
+RUN apt-get install -y \
+    ros-noetic-gazebo-msgs \
+    libsdformat9-dev \
+    ros-noetic-gazebo-ros \
+    ros-noetic-xacro \
+    ros-noetic-tf2 \
+    ros-noetic-moveit-ros-planning-interface \
+    ros-noetic-franka-gripper \
+    ros-noetic-controller-manager \
+    ros-noetic-effort-controllers \
+    ros-noetic-gazebo-plugins \
+    ros-noetic-gazebo-ros-control \
+    ros-noetic-joint-state-controller \
+    ros-noetic-joint-state-publisher \
+    ros-noetic-joint-trajectory-controller \
+    ros-noetic-robot-state-publisher \
+    ros-noetic-tf \
+    ros-noetic-moveit-simple-controller-manager \
+    ros-noetic-moveit-core \
+    ros-noetic-moveit-ros-perception \
+    ros-noetic-moveit-visual-tools \
+    ros-noetic-controller-interface \
+    ros-noetic-hardware-interface \
+    ros-noetic-moveit-ros-move-group \
+    ros-noetic-moveit-fake-controller-manager \
+    ros-noetic-moveit-kinematics \
+    ros-noetic-moveit-planners-ompl \
+    ros-noetic-moveit-ros-visualization \
+    ros-noetic-joint-state-publisher-gui \
+    ros-noetic-libfranka \ 
+    ros-noetic-franka-ros
+
+RUN apt-get install -y \
+    libnng1 libnng-dev
+
+
+RUN apt-get update && apt-get install git-all -y
+
+ENV HOME /home/user
+RUN useradd --create-home --home-dir $HOME user && chmod -R u+rwx $HOME && chown -R user:user $HOME
+RUN rosdep init
+
+USER user
+
+RUN mkdir -p ${HOME}/work_dir
+COPY --chown=user:user . ${HOME}/work_dir/
+
+RUN rosdep update
+
+# temporary switch to root to be able to install the ROS package dependencies of the workspace
+USER root
+RUN rosdep install --from-paths ${HOME}/work_dir/ -i -y -r
+USER user
+
+RUN ls -al /home/user
+WORKDIR ${HOME}/work_dir
+
+RUN git clone --recurse-submodules -b ccnc-demo https://git-st.inf.tu-dresden.de/ceti/ros/ccf/ccf_workspace.git
+RUN pwd && ls
+
+
+RUN echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
+RUN /bin/bash -c "source /opt/ros/noetic/setup.bash && \
+                 cd ~/work_dir/ccf_workspace/ && \
+                 catkin build"
+RUN echo "source ~/work_dir/ccf_workspace/devel/setup.bash" >> ~/.bashrc
+
+EXPOSE 6576/tcp
+
+RUN ls -l
+
+ENTRYPOINT ["./launch.sh"]

docker/launch.sh

+#!/bin/bash
+
+echo Running Main Controller with parameters: "$@"
+source ~/work_dir/ccf_workspace/devel/setup.bash
+
+if [ $1 -eq 1 ]
+then
+roslaunch ccf_immersive_sorting main_controller_virtual_preview_ceti-table-$1_real_robot.launch mqtt_server:=tcp://$2 connection_address:=tcp://$3 robot_ip:=$4
+else
+roslaunch robot-cell_ceti-table-$1.launch mqtt_server:=tcp://$2 robot_ip:=$4
+fi

docker/manual.md

+# Docker Manual
+
+## Building an running the demo locally
+
+* Building the container: ```docker build .```
+* Running the conainer: ```docker run -it --ulimit rtprio=99 --cap-add=sys_nice --network host <containerName> <robotId> <mqttAddress> <nngAddress> <robotIP>```
+* Example: ```docker run -it --ulimit rtprio=99 --cap-add=sys_nice --network host 70fef7e9a389 1 127.0.0.1:2000 *:6576 172.31.1.13```
+
+## Running the demo from the registry
+
+* ```docker run -it --ulimit rtprio=99 --cap-add=sys_nice --network host git-st.inf.tu-dresden.de:4567/ceti/ros/ccf/ccf_workspace:ccnc <robotId> <mqttAddress> <nngAddress> <robotIP>```
+
+## Material
+
+* Docker realtime options: https://docs.docker.com/config/containers/resource_constraints/#configure-the-docker-daemon