From b232fd2af4bcc326f84c1045a484f478852dda96 Mon Sep 17 00:00:00 2001
From: avcu <avcupyrz@gmail.com>
Date: Fri, 26 Jul 2024 09:29:41 +0300
Subject: [PATCH 1/2] add docker and makefile

---
 Dockerfile | 39 +++++++++++++++++++++++++++++++++++++++
 Makefile   |  7 +++++++
 2 files changed, 46 insertions(+)
 create mode 100644 Dockerfile
 create mode 100644 Makefile

diff --git a/Dockerfile b/Dockerfile
new file mode 100644
index 0000000..fc82e69
--- /dev/null
+++ b/Dockerfile
@@ -0,0 +1,39 @@
+# Use the official ROS 2 humble base image
+ARG ROS_DISTRO=humble
+FROM ros:${ROS_DISTRO} as deps
+
+# Set the working directory
+WORKDIR /root/ros2_ws
+
+SHELL ["/bin/bash", "-c"]
+
+RUN source /opt/ros/${ROS_DISTRO}/setup.bash
+RUN apt-get update \
+    && apt-get -y --quiet --no-install-recommends install \
+    gcc \
+    git \
+    python3 \
+    python3-pip
+
+COPY . /root/ros2_ws/src
+RUN rosdep install --from-paths src --ignore-src -r -y
+
+WORKDIR /root/ros2_ws/src
+
+RUN pip3 install -r requirements.txt
+# Run a default command, e.g., starting a bash shell
+CMD ["bash"]
+
+WORKDIR /root/ros2_ws
+FROM deps as builder
+ARG CMAKE_BUILD_TYPE=Release
+
+RUN source /opt/ros/${ROS_DISTRO}/setup.bash
+RUN source /opt/ros/${ROS_DISTRO}/setup.bash && \
+    colcon build
+
+# Source the ROS2 setup file
+RUN echo "source /root/ros2_ws/install/setup.bash" >> ~/.bashrc
+
+# Run a default command, e.g., starting a bash shell
+CMD ["bash"]
diff --git a/Makefile b/Makefile
new file mode 100644
index 0000000..ef827b5
--- /dev/null
+++ b/Makefile
@@ -0,0 +1,7 @@
+.PHONY : docker_build
+docker_build:
+	docker build -t yasmin .
+
+.PHONY : docker_run
+docker_run:
+	docker run -it --net=host --ipc=host --privileged --env="DISPLAY"  --env="QT_X11_NO_MITSHM=1" --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" --volume="${XAUTHORITY}:/root/.Xauthority"  --entrypoint /bin/bash yasmin
\ No newline at end of file

From 6f76666db8efeddad088de6ecd0f6ac5f3c77b87 Mon Sep 17 00:00:00 2001
From: avcu <avcupyrz@gmail.com>
Date: Fri, 26 Jul 2024 15:50:39 +0300
Subject: [PATCH 2/2] add introduction of docker and makefile  usage to readme

---
 README.md | 37 +++++++++++++++++++++++++++++++++++++
 1 file changed, 37 insertions(+)

diff --git a/README.md b/README.md
index 5a9ccc3..ba9b5e6 100644
--- a/README.md
+++ b/README.md
@@ -44,6 +44,43 @@ $ cd ~/ros2_ws
 $ colcon build
 ```
 
+## Docker Setup
+
+If your operating system doesn't support ROS 2 humble, docker is a great alternative.
+
+First of all, you have to build the project and create an  image like so:
+
+```shell
+## Assuimg you are in the correct project directory
+$ docker build -t yasmin .
+```
+To use a shortcut, you may use the following command:
+
+```shell
+## Assuimg you are in the correct project directory
+$ make docker_build
+```
+
+After the image is created, copy and paste the following command to the terminal to run the image:
+
+```shell
+## Assuimg you are in the correct project directory
+$ docker run -it --net=host --ipc=host --privileged --env="DISPLAY"  --env="QT_X11_NO_MITSHM=1" --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" --volume="${XAUTHORITY}:/root/.Xauthority"  --entrypoint /bin/bash yasmin
+```
+To use a shortcut, you may use following command:
+
+```shell
+$ make docker_run
+```
+### Running the package at docker image
+
+If you are in the docker image , this project is already sourced and the demo script can be run as the following command;
+
+```shell
+$ cd /root/ros2_ws/
+$ ros2 run yasmin_demos yasmin_demo.py
+```
+
 ## Demos
 
 There are some examples, for both Python and C++, that can be found in [yasmin_demos](./yasmin_demos/).