From d71875b2538f3bcb2475b9b92c1cb87fddbe9c19 Mon Sep 17 00:00:00 2001
From: TIm Kluge <timklge@gmail.com>
Date: Tue, 28 Apr 2020 17:26:00 +0200
Subject: [PATCH] Add DOCKERFILE

---
 Dockerfile    | 29 +++++++++++++++++++++++++++++
 README.md     |  7 +++++++
 docker-run.sh | 17 +++++++++++++++++
 entrypoint.sh |  4 ++++
 4 files changed, 57 insertions(+)
 create mode 100644 Dockerfile
 create mode 100755 docker-run.sh
 create mode 100644 entrypoint.sh

diff --git a/Dockerfile b/Dockerfile
new file mode 100644
index 0000000..be81bdc
--- /dev/null
+++ b/Dockerfile
@@ -0,0 +1,29 @@
+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"]
diff --git a/README.md b/README.md
index afa25cb..c65f7f0 100644
--- a/README.md
+++ b/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`.
\ No newline at end of file
diff --git a/docker-run.sh b/docker-run.sh
new file mode 100755
index 0000000..8fbb638
--- /dev/null
+++ b/docker-run.sh
@@ -0,0 +1,17 @@
+#!/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
diff --git a/entrypoint.sh b/entrypoint.sh
new file mode 100644
index 0000000..527ef79
--- /dev/null
+++ b/entrypoint.sh
@@ -0,0 +1,4 @@
+#!/bin/bash
+source /opt/ros/melodic/setup.bash
+source $HOME/devel/setup.bash
+exec "$@"
\ No newline at end of file
-- 
GitLab