Merge pull request #1050 from ROBOTIS-GIT/support-docker

Add Docker configuration for turtlebot3 environment

Dockerfile

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+# Use the base ROS2 humble image
+FROM osrf/ros:humble-desktop-full
+
+# Set environment variables
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Install the required packages in a single layer and clean up afterwards
+RUN apt-get update && apt-get install -y \
+    git \
+    python3-pip \
+    ros-${ROS_DISTRO}-gazebo-ros-pkgs \
+    ros-${ROS_DISTRO}-cartographer \
+    ros-${ROS_DISTRO}-cartographer-ros \
+    ros-${ROS_DISTRO}-navigation2 \
+    ros-${ROS_DISTRO}-nav2-bringup && \
+    rm -rf /var/lib/apt/lists/*
+
+ENV COLCON_WS=/root/turtlebot3_ws
+WORKDIR ${COLCON_WS}
+
+RUN mkdir -p ${COLCON_WS}/src && \
+    cd ${COLCON_WS}/src && \
+    git clone -b humble https://github.com/ROBOTIS-GIT/DynamixelSDK.git && \
+    git clone -b humble https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git && \
+    git clone -b humble https://github.com/ROBOTIS-GIT/turtlebot3.git
+
+RUN bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash && \
+    cd ${COLCON_WS} && \
+    colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release"
+
+RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> ~/.bashrc
+RUN echo "source ${COLCON_WS}/install/setup.bash" >> ~/.bashrc
+RUN echo "source /usr/share/gazebo/setup.sh" >> ~/.bashrc
+
+CMD ["bash"]

docker-compose.yml

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+services:
+  ros2:
+    build:
+      context: .
+      dockerfile: Dockerfile
+    container_name: turtlebot3
+    tty: true
+    restart: always
+    cap_add:
+      - SYS_NICE
+    ulimits:
+      rtprio: 99
+      rttime: -1
+      memlock: 8428281856
+    network_mode: host
+    environment:
+     - DISPLAY=${DISPLAY}
+     - QT_X11_NO_MITSHM=1
+     - ROS_DOMAIN_ID=30
+    volumes:
+      - /dev:/dev
+      - ./workspace:/workspace
+      - /tmp/.X11-unix:/tmp/.X11-unix:rw
+      - /tmp/.docker.xauth:/tmp/.docker.xauth:rw
+    privileged: true
+    command: bash