From a7afb94a61b85f46e5105f607dc673c5b9745e8c Mon Sep 17 00:00:00 2001
From: Huckleberry Febbo <febbo@umich.edu>
Date: Mon, 18 Jun 2018 19:25:19 -0400
Subject: [PATCH] reduced the size of the Dockerfile and updated docs.
 Currently, Chrono is not in Dockerfile.

---
 README.md         |  7 +++++--
 docker/Dockerfile | 23 +++++++++++++++--------
 docker/README.md  | 10 ++++++----
 3 files changed, 26 insertions(+), 14 deletions(-)

diff --git a/README.md b/README.md
index 954a4b5b..d11028e9 100644
--- a/README.md
+++ b/README.md
@@ -15,6 +15,9 @@ git clone https://github.com/JuliaMPC/MAVs
 ```
 Then follow the [Docker instructions](https://github.com/JuliaMPC/MAVs/tree/master/docker#mavs-docker).
 
+* Note: currently, the entire repo is cloned twice (once by the above command and once by the Docker file).
+* In the future this software may be configured to save space and only cloned once
+
 After this, to test the software:
 ### Mitigate this issue
 Something like this may appear:
@@ -36,10 +39,10 @@ While [this issue](https://github.com/jdlangs/RobotOS.jl/issues/45) needs to be
 ```
 sudo rm -r /home/mavs/.julia/.cache
 ```
-This issue happens frequently, so just run the avove command each time after ``run.sh`` is ran.
+This issue happens frequently, so just run the above command is there is a cache error from julia. Then rerun.
 
 ### Run some of the system demos
-The demos are included in the documetnation, for instance try [demoA](https://juliampc.github.io/AVExamples.jl/latest/demos/system/demoA.html).
+The demos are included in the documentation, for instance try [demoA](https://juliampc.github.io/AVExamples.jl/latest/demos/system/demoA.html).
 
 
 ## Requirements
diff --git a/docker/Dockerfile b/docker/Dockerfile
index 21ec9b12..8dd2f326 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -24,10 +24,16 @@ RUN echo "deb http://packages.osrfoundation.org/gazebo/ubuntu `lsb_release -cs`
     ros-kinetic-hector-slam \
     ros-kinetic-joy \
     ros-kinetic-perception-pcl \
+    ros-kinetic-velodyne-description \
     # for obstacle_detector
     libarmadillo-dev \
  && apt-get clean
 
+# Install Julia and setup environment
+RUN sudo wget https://julialang-s3.julialang.org/bin/linux/x64/0.6/julia-0.6.2-linux-x86_64.tar.gz \
+    && sudo tar -xvf julia-0.6.2-linux-x86_64.tar.gz -C /opt
+            #TODO, delete julia .tar file
+
 # Add basic user
 ENV USERNAME mavs
 ENV PULSE_SERVER /run/pulse/native
@@ -51,18 +57,19 @@ RUN echo "source /opt/ros/kinetic/setup.bash" >> /home/$USERNAME/.bashrc && \
 # Change user
 USER mavs
 
+RUN echo 4
+RUN /opt/julia-d386e40c17/bin/julia -e 'Pkg.add("MichiganAutonomousVehicles")'
 RUN git clone -b master https://github.com/JuliaMPC/MAVs /home/$USERNAME/MAVs
 
-RUN echo 3
-
 RUN /bin/bash -c 'source /opt/ros/kinetic/setup.bash; cd /home/$USERNAME/MAVs/ros/src; catkin_init_workspace; cd ..; catkin_make'
-RUN echo "source /home/$USERNAME/MAVs/ros/devel/setup.bash" >> /home/$USERNAME/.bashrc
+RUN echo "source /home/$USERNAME/MAVs/ros/devel/setup.bash" >> /home/$USERNAME/.bashrc && \
+    echo 'alias julia='/opt/julia-d386e40c17/bin/julia'' >> ~/.bashrc && \
+    echo 'export PATH="$PATH:/opt/julia-d386e40c17/bin"' >>  ~/.bashrc
 
-#RUN echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc \
- #&& /bin/bash -c 'cd /home/$USERNAME/MAVs/ros/src; cd .. \
- #rosdep install --from-paths src --ignore-src --rosdistro kinetic -y \
- #catkin_make' \
- #&& echo "source /home/$USERNAME/MAVs/ros/devel/setup.bash" >> /home/$USERNAME/.bashrc
+
+# RUN sudo rm -r /home/mavs/.julia/.cache
 
 # Default CMD
 CMD ["/bin/bash"]
+
+#CMD ["/bin/bash", "bash -c '[ -d /home/mavs/.julia/.cache] && sudo rm -rf /home/mavs/.julia/.cache'"]
diff --git a/docker/README.md b/docker/README.md
index 28d68018..0481bdb9 100644
--- a/docker/README.md
+++ b/docker/README.md
@@ -1,13 +1,15 @@
 # MAVs Docker
-Assuming the NVIDIA drivers and Docker and nvidia-docker are properly
-installed.
 
-[Docker installation](https://docs.docker.com/engine/installation/linux/docker-ce/ubuntu/)
+## Requirements
 
+Tested on Ubuntu Xenial (16.04)
 
-[nvidia-docker installation](https://github.com/NVIDIA/nvidia-docker)
+* An X server
+* [Docker](https://www.docker.com/get-docker)
+* [nvidia-docker](https://github.com/NVIDIA/nvidia-docker/wiki/Installation)
 
 ## How to build
+
 ```
 $ cd MAVs/docker
 $ sh build.sh