Merge branch 'master' into 'master'

Add DOCKERFILE

This adds a docker setup as in #1 to run the examples and some hints in the readme on how to use it.

It uses the "isolated" way to run GUI in docker containers described in http://wiki.ros.org/docker/Tutorials/GUI#The_isolated_way . I think it should be sufficiently secure. The only downside is that you have to change the `DOCKERFILE` if your user is not the primary user on your system.

See merge request !1

Dockerfile

+FROM osrf/ros:melodic-desktop-full-bionic
+
+ARG uid=1000
+ARG 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 $USERNAME
+
+RUN apt-get update && apt-get install -y \
+      python-catkin-tools bash
+WORKDIR /home/$USERNAME
+COPY src /home/$USERNAME/src
+RUN rosdep install --from-paths . -r -y
+RUN catkin config \
+      --extend /opt/ros/melodic && \
+    catkin build
+
+ENTRYPOINT ["/entrypoint.sh"]

README.md

@@ -44,5 +44,11 @@ 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:
 
+- Clone this repo and its submodules (recommended for fresh installations):
+    - as a guest: `git clone --recurse-submodules https://git-st.inf.tu-dresden.de/ceti/ros/panda_gazebo_workspace.git panda_gazebo_workspace`
+    - as a project member with a registered ssh key: `git clone --recurse-submodules git@git-st.inf.tu-dresden.de:ceti/ros/panda_gazebo_workspace.git panda_gazebo_workspace`
+- Run `./docker-run.sh roslaunch sample_applications sample_simple_simulation.launch` to build and run a docker image tagged with `ceti-panda-gazebo-workspace`
\ No newline at end of file

docker-run.sh

+#!/bin/bash
+
+# http://wiki.ros.org/docker/Tutorials/GUI
+
+docker build . -t ceti-panda-gazebo-workspace \
+    --build-arg UID=$UID \
+    --build-arg GID=$GID
+
+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" \
+    --device=/dev/dri \
+    --group-add video \
+    --user="ros" \
+    ceti-panda-gazebo-workspace \
+    "$@"
\ No newline at end of file

entrypoint.sh

+#!/bin/bash
+source /opt/ros/melodic/setup.bash
+source $HOME/devel/setup.bash
+exec "$@"
\ No newline at end of file