Add DOCKERFILE

Dockerfile

+FROM osrf/ros:melodic-desktop-full-bionic
+
+ENV uid 1000
+ENV gid 1000
+
+COPY entrypoint.sh /entrypoint.sh
+RUN chmod +x /entrypoint.sh
+
+ENV USERNAME ros
+RUN useradd -m $USERNAME && \
+        echo "$USERNAME:$USERNAME" | chpasswd && \
+        usermod --shell /bin/bash $USERNAME && \
+        usermod -aG sudo $USERNAME && \
+        echo "$USERNAME ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers.d/$USERNAME && \
+        chmod 0440 /etc/sudoers.d/$USERNAME && \
+        # Replace 1000 with your user/group id
+        usermod  --uid $uid $USERNAME && \
+        groupmod --gid $gid $USERNAME
+
+WORKDIR /home/$USERNAME
+COPY src /home/$USERNAME/src
+RUN apt-get update && apt-get install -y \
+      python-catkin-tools bash
+RUN rosdep install --from-paths . -r -y
+RUN catkin config \
+      --extend /opt/ros/melodic && \
+    catkin build
+
+ENTRYPOINT ["/entrypoint.sh"]

README.md

@@ -44,5 +44,12 @@ See the [README.md of the submodule](../../../../sample_applications/-/blob/mast
 - Execution of a simple motion costraint by a blocking object: `roslaunch sample_applications sample_constraint_simulation.launch`
 - Execution of a velocity constraint cartesian trajectory: `roslaunch sample_applications simulation.launch`
 
+## Docker
 
+To run via docker on any up-to-date linux system:
 
+- `docker build . -t ceti-panda-gazebo-workspace`
+- `./docker-run.sh roslaunch sample_applications sample_simple_simulation.launch`
+
+Note that this expects your `uid` and `gid` to be `1000`. This is generally the case if your user is the primary user on your system. Otherwise, please change
+the values at the top of the `Dockerfile`.
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docker-run.sh

+#!/bin/bash
+
+# http://wiki.ros.org/docker/Tutorials/GUI
+
+XSOCK=/tmp/.X11-unix
+XAUTH=/tmp/.docker.xauth
+touch $XAUTH
+xauth nlist $DISPLAY | sed -e 's/^..../ffff/' | xauth -f $XAUTH nmerge -
+
+docker run -it \
+    --volume=$XSOCK:$XSOCK:rw \
+    --volume=$XAUTH:$XAUTH:rw \
+    --env="XAUTHORITY=${XAUTH}" \
+    --env="DISPLAY" \
+    --user="ros" \
+    ceti-panda-gazebo-workspace \
+    "$@"
\ No newline at end of file

entrypoint.sh

+#!/bin/bash
+source /opt/ros/melodic/setup.bash
+source $HOME/devel/setup.bash
+exec "$@"
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