Docker for ubuntu

Signed-off-by: Piotr Jaroszek <[email protected]>

Author: pijaro

build.sh

@@ -53,7 +53,7 @@ done
 
 if [ $CLEAN_INSTALL == 1 ]; then
     echo "Cleaning install directory..."
-    rm -rf "$SCRIPTPATH/install"
+    rm -rf $SCRIPTPATH/install/*
 fi
 if $SCRIPTPATH/src/ros2cs/build.sh $OPTIONS; then
     mkdir -p $SCRIPTPATH/install/asset && cp -R $SCRIPTPATH/src/Ros2ForUnity $SCRIPTPATH/install/asset/Ros2ForUnity

docker/Dockerfile

@@ -0,0 +1,22 @@
+ARG ROS2_DISTRO=foxy
+FROM ros:${ROS2_DISTRO}-ros-base
+
+RUN apt update && apt install -y ros-foxy-test-msgs ros-foxy-fastrtps ros-foxy-rmw-fastrtps-cpp ros-foxy-cyclonedds ros-foxy-rmw-cyclonedds-cpp
+
+RUN apt update && apt install -y curl wget git
+
+RUN curl -s https://packagecloud.io/install/repositories/dirk-thomas/vcstool/script.deb.sh | sudo bash
+RUN apt update && apt install -y python3-vcstool
+
+RUN wget https://packages.microsoft.com/config/ubuntu/20.04/packages-microsoft-prod.deb -O packages-microsoft-prod.deb 
+RUN dpkg -i packages-microsoft-prod.deb
+RUN apt update && apt install -y apt-transport-https dotnet-sdk-3.1
+
+ADD entrypoint.sh /entrypoint.sh
+RUN chmod +x /entrypoint.sh
+
+RUN mkdir -p /workdir/ros2-for-unity
+RUN chmod -R 777 /workdir
+RUN chmod -R 777 /home
+
+ENTRYPOINT [ "/entrypoint.sh" ]

docker/README.md

@@ -0,0 +1,36 @@
+Ros2 For Unity Docker
+===============
+
+Currently only building asset on Ubuntu is supported. Build windows version is not supported.
+
+## Build docker image
+
+1. Source ROS2 (foxy or galactic):
+
+```bash
+. /opt/ros/<ROS_DISTRO>/setup.bash
+```
+
+2. Build image - image will be based on sourced ROS2 version:
+
+```bash
+./build_image.sh
+```
+
+## Using docker container
+
+1. Run docker container. Container will fetch `master` version of `ros2-for-unity`:
+
+```bash
+./run_container.sh
+```
+
+2. Build asset. `./run_container.sh` script mounts `install` host directory inside docker, so you can find install results on host machine:
+
+```bash
+./build.sh --with-tests
+```
+
+## Adding custom messages
+
+You can add custom messages by putting them inside `docker/custom_messages` folder or just simply `git clone` them inside docker containers `/workdir/ros2-for-unity/src/ros2cs/src/custom_messages`

docker/build_image.sh

@@ -0,0 +1,8 @@
+#!/bin/bash
+
+if [ -z "$ROS_DISTRO" ]; then
+    echo "Source your ros2 distro first."
+    exit 1
+fi
+
+docker build . --build-arg ROS2_DISTRO=$ROS_DISTRO --tag ros2-for-unity

docker/custom_messages/INSERT_CUSTOM_MESSAGES_HERE

@@ -0,0 +1,32 @@
+#!/bin/bash
+
+source "/opt/ros/$ROS_DISTRO/setup.bash"
+
+echo "######################################################################"
+echo ""
+echo "Cloning recent version of 'ros2-for-unity'"
+echo ""
+echo "######################################################################"
+echo ""
+
+git clone https://github.com/RobotecAI/ros2-for-unity.git /workdir/.ros2-for-unity
+
+shopt -s dotglob
+mkdir -p /workdir/ros2-for-unity
+mv /workdir/.ros2-for-unity/* /workdir/ros2-for-unity
+cd /workdir/ros2-for-unity/ && ./pull_repositories.sh
+shopt -u dotglob
+
+ln -s /workdir/custom_messages /workdir/ros2-for-unity/src/ros2cs/src/custom_messages
+
+echo ""
+echo "######################################################################"
+echo ""
+echo "Welcome to 'ros2-for-unity' docker container. Your ROS2 distro is $ROS_DISTRO."
+echo ""
+echo "Type './build.sh' to build 'ros2-for-unity'. You will find installed libs on your host machine inside 'install' directory"
+echo ""
+echo "######################################################################"
+echo ""
+
+exec bash

docker/entrypoint.sh

@@ -0,0 +1,17 @@
+#!/bin/bash
+SCRIPT=$(readlink -f $0)
+SCRIPTPATH=`dirname $SCRIPT`
+
+mkdir -p $SCRIPTPATH/../install
+docker run \
+--rm \
+-it \
+--name ros2-for-unity \
+--user $(id -u):$(id -g) \
+-v /etc/passwd:/etc/passwd:ro \
+-v /etc/group:/etc/group:ro \
+-v /etc/shadow:/etc/shadow:ro \
+-v $(pwd)/../install:/workdir/ros2-for-unity/install:rw \
+-v $(pwd)/custom_messages:/workdir/custom_messages \
+ros2-for-unity \
+bash