From 9b051d2103929d9079aadfffedb2e49f1e5a7ef6 Mon Sep 17 00:00:00 2001
From: Pimpest <82343504+Pimpest@users.noreply.github.com>
Date: Fri, 7 Feb 2025 18:31:57 +0100
Subject: [PATCH] Added initial sketch of dockerfile support

---
 Dockerfile.env      | 18 ++++++++++++++++++
 docker-compose.yaml | 17 +++++++++++++++++
 2 files changed, 35 insertions(+)
 create mode 100644 Dockerfile.env
 create mode 100644 docker-compose.yaml

diff --git a/Dockerfile.env b/Dockerfile.env
new file mode 100644
index 0000000..944299e
--- /dev/null
+++ b/Dockerfile.env
@@ -0,0 +1,18 @@
+FROM arm64v8/ros:jazzy as magrob.env
+
+RUN mkdir -p /ros_ws/src
+WORKDIR /ros_ws/src
+
+RUN --mount=type=bind,source=./,target=/ros_ws/src/ \
+    --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \
+    . /opt/ros/jazzy/setup.sh && \
+    apt update && \
+    apt-get install -y ros-jazzy-hardware-interface && \
+    rosdep install -i --from-paths . -y
+
+RUN cat <<EOF >> /root/.bashrc
+source /opt/ros/jazzy/setup.bash
+EOF
+
+CMD ["sleep", "infinity"]
diff --git a/docker-compose.yaml b/docker-compose.yaml
new file mode 100644
index 0000000..6241927
--- /dev/null
+++ b/docker-compose.yaml
@@ -0,0 +1,17 @@
+services:
+  magrob_base:
+    network_mode: host
+    image: localhost/magrob.env
+    build: 
+      dockerfile: Dockerfile.env
+
+    entrypoint: ["sleep","infinity"]
+    volumes:
+      - ./:/ros_ws/src
+      - /dev/shm:/dev/shm
+    devices:
+      - /dev/serial/by-id/usb-Mg_Robotics_Magrob_Odometry_MCU_E661AC8863809024-if00:/dev/ttyACM1
+      - /dev/serial/by-id/usb-Raspberry_Pi_Pico_E662588817288C2E-if00:/dev/ttyACM0
+
+    profiles:
+      - base