Docs + simple generic gripper controller interface + minor bug fixes

.dockerignore

@@ -0,0 +1 @@
+.git

.github/CODEOWNERS

@@ -0,0 +1,7 @@
+# Default owners for everything in the repo.
+# Unless a later match takes precedence, they will be requested for review
+# when someone opens a pull request.
+* @argenos @alex-mitrevski
+
+mdr_perception @minhnh
+mdr_navigation @argenos

.travis.yml

@@ -6,17 +6,30 @@ services:
 language: cpp
 
 env:
-  - COMPOSE_VERSION: 1.22.0
+  global:
+    - COMPOSE_VERSION: 1.22.0
+    - CONTAINER_RELEASE_IMAGE: bitbots/bitbots-domestic:$TRAVIS_BRANCH
 
 before_install:
   - sudo rm /usr/local/bin/docker-compose
   - sudo curl -L https://github.com/docker/compose/releases/download/1.22.0/docker-compose-$(uname -s)-$(uname -m) -o /usr/local/bin/docker-compose
   - sudo chmod +x /usr/local/bin/docker-compose
   - docker-compose -v
-  - docker-compose build
 
 script:
-  - docker-compose run travis
+  - docker-compose build travis
+
+deploy:
+  provider: script
+  skip_cleanup: true
+  script:
+    - echo "$DOCKER_PASSWORD" | docker login -u "$DOCKER_USERNAME" --password-stdin
+    - docker build -t $CONTAINER_RELEASE_IMAGE .
+    - docker images
+    - docker push $CONTAINER_RELEASE_IMAGE
+  on:
+    all_branches: true
+    condition: $TRAVIS_BRANCH =~ ^kinetic|devel$ OR tag = true
 
 notifications:
   slack:

.travis/Dockerfile

@@ -1,10 +1,13 @@
-FROM argenos/bitbots-base
+FROM bitbots/bitbots-domestic:kinetic
 
-RUN rosdep update
+WORKDIR /travis
+ADD ./ /travis/src/mas_domestic_robotics
 
-ADD ./ /kinetic/src/mas_domestic_robotics
-WORKDIR /kinetic
-
-RUN wstool init src && wstool merge -t src src/mas_domestic_robotics/.travis/travis.rosinstall
-RUN wstool update -t src
-RUN rosdep install --from-paths src --ignore-src --rosdistro=kinetic -y
+RUN . /opt/ros/mas_stable/setup.sh && \
+    catkin config --init && \
+    catkin config --extend /opt/ros/mas_stable && \
+    apt-get update -qq && \
+    rosdep update -qq && \
+    rosdep install -q --from-paths src --ignore-src --rosdistro=kinetic -y && \
+    rm -rf /var/lib/apt/lists/* && \
+    catkin build --no-status

Dockerfile

@@ -1,9 +1,29 @@
-FROM argenos/bitbots-base
+FROM bitbots/bitbots-common:kinetic
 
 WORKDIR /kinetic
+COPY mas-domestic.rosinstall /kinetic
 
-RUN rosdep update
+RUN wstool init --shallow src && \
+    wstool merge -t src mas-domestic.rosinstall && \
+    cd src && \
+    wstool remove mas_domestic_robotics mas_common_robotics orocos_kinematics_dynamics kdl_parser && \
+    cd - && \
+    wstool update -t src
 
-RUN wstool init src && wstool merge -t src https://raw.githubusercontent.com/b-it-bots/mas_domestic_robotics/kinetic/mas-domestic.rosinstall
-RUN wstool update -t src
-RUN rosdep install --from-paths src --ignore-src --rosdistro=kinetic -y
+ADD . /kinetic/src/mas_domestic_robotics
+
+
+RUN . /opt/ros/mas_stable/setup.sh && \
+    apt-get update -qq && \
+    rosdep update -q && \
+    rosdep install --from-paths src --ignore-src --rosdistro=kinetic -y && \
+    rm -rf /var/lib/apt/lists/* && \
+    catkin config --init && \
+    catkin config --extend /opt/ros/mas_stable && \
+    catkin config --install --install-space /opt/ros/mas_stable && \
+    catkin build && \
+    rm -rf /kinetic/
+
+WORKDIR /
+ENTRYPOINT ["/ros_entrypoint.sh"]
+CMD ["bash"]