added dockerfile and docker compose

Dockerfile

@@ -0,0 +1,43 @@
+FROM ros:jazzy-ros-base
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+# ---------- System dependencies ----------
+RUN apt-get update && apt-get install -y \
+    python3-colcon-common-extensions \
+    python3-rosdep \
+    build-essential \
+    udev \
+    git
+
+# ---------- Initialize rosdep ----------
+RUN rosdep init || true
+RUN rosdep update
+
+# ---------- Workspace ----------
+WORKDIR /ros_ws
+
+# ---------- Copy package.xml files ----------
+COPY toid_bot_description/package.xml toid_bot_description/package.xml
+COPY toid_control/package.xml         toid_control/package.xml
+COPY toid_msgs/package.xml            toid_msgs/package.xml
+COPY toid_odometry/package.xml        toid_odometry/package.xml
+COPY toid_spinner_controller/package.xml toid_spinner_controller/package.xml
+#COPY toid_navigation/package.xml      toid_navigation/package.xml
+
+# ---------- Install dependencies ----------
+RUN . /opt/ros/jazzy/setup.sh && \
+    rosdep install --from-paths ./ --ignore-src -r -y \
+    && rm -rf /var/lib/apt/lists/*
+
+RUN rm -rf ./*
+
+RUN cat <<EOF >> /root/.bashrc
+source /opt/ros/jazzy/setup.bash
+if [[-f ./install/setup.bash ]]
+    source ./install/setup.bash
+if
+EOF
+
+
+CMD ["sleep", "infinity"]

docker-compose.yaml

@@ -0,0 +1,15 @@
+services:
+  toid:
+    image: toid 
+    container_name: toid
+
+    privileged: true
+    network_mode: host
+
+    volumes:
+      - ./:/ros_ws/src
+
+    entrypoint: ["sleep","infinity"]
+
+    profiles:
+      - base

scripts/docker_build.sh

@@ -0,0 +1,54 @@
+#!/bin/bash
+usage() {
+	cat <<EOF
+Usage:
+	docker_build.sh <target> <registry> [<args>]
+	docker_build.sh -h
+
+	Build and push a docker image to a arm64v8 registry
+
+	Targets: 
+		base     The pacakges aimed at running on the raspberry pi
+EOF
+}
+
+
+TARGET="$1"
+REGISTRY="$2"
+ARGS="$2"
+
+if [[ $TARGET == "-h" || $TARGET == "--help" ]]; then
+	usage
+	exit 0
+fi
+
+if [[ $# -lt 2 ]]; then
+	echo "Error: Expected at least 2 arguments."
+	usage
+	exit 1
+fi
+
+trap "trap - SIGTERM && kill -- -$$" SIGINT SIGTERM EXIT
+
+case $TARGET in
+	"base") 
+		ssh -N \
+			-o StrictHostKeyChecking=no \
+			-o UserKnownHostsFile=/dev/null \
+			-L 0.0.0.0:5000:localhost:5000 \
+			$REGISTRY &
+
+		echo "Building target: base"
+
+		sudo docker buildx build \
+			--platform linux/arm64 \
+			-t localhost:5000/toid:latest \
+			-f Dockerfile \
+			--output type=registry \
+			.
+		;;
+	*)
+		echo "Target not defined"
+		exit 1
+		;;
+esac

toid_behaviors/CMakeLists.txt

@@ -0,0 +1,63 @@
+cmake_minimum_required(VERSION 3.8)
+project(toid_control)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+set(library_name toid_control)
+
+set(PACKAGE_DEPS
+  rclcpp
+  pluginlib
+  hardware_interface
+  rclcpp_lifecycle
+  rclcpp_components
+)
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+
+foreach(PACKAGE ${PACKAGE_DEPS})
+  find_package(${PACKAGE} REQUIRED)
+endforeach()
+
+
+add_library(
+  ${library_name}
+  SHARED
+  src/toid_control.cpp
+)
+
+target_include_directories(
+  ${library_name}
+  PRIVATE
+  include
+)
+
+ament_target_dependencies(${library_name}
+  ${PACKAGE_DEPS}
+)
+
+pluginlib_export_plugin_description_file(hardware_interface toid_control_interfaces.xml)
+
+install(
+  TARGETS ${library_name} 
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+install(
+  DIRECTORY 
+    launch 
+    params
+    rviz
+  DESTINATION share/${PROJECT_NAME}/
+)
+
+ament_export_include_directories(include)
+ament_export_libraries(${library_name})
+ament_export_dependencies(${PACKAGE_DEPS})
+
+ament_package()

toid_behaviors/package.xml

@@ -0,0 +1,35 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>toid_control</name>
+  <version>0.0.1</version>
+  <description>Ros2 control compatible drivers for magrob</description>
+  <maintainer email="82343504+Pimpest@users.noreply.github.com">Pimpest</maintainer>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>ros2launch</depend>
+
+  <depend>rclcpp</depend>
+  <depend>rclcpp_lifecycle</depend>
+  <depend>rclcpp_components</depend>
+  <depend>pluginlib </depend>
+
+  <depend>ros2_control</depend>
+  <depend>hardware_interface</depend>
+
+  <depend>controller_manager</depend>
+  <depend>diff_drive_controller</depend>
+  <depend>robot_state_publisher</depend>
+  <depend>joint_state_broadcaster</depend>
+
+  <depend>boost</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

toid_behaviors/toid_control_interfaces.xml

@@ -0,0 +1,7 @@
+    <library path="toid_behaviors">
+        <class 
+            name="toid_behaviors/MoveAhead"
+            type="toid::MoveAheadBehavior" 
+            base_class_type="nav2_core::Behavior"
+        />
+    </library>

toid_bot_description/package.xml

@@ -10,9 +10,7 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <exec_depend>joint_state_publisher</exec_depend>
-  <exec_depend>joint_state_publisher_gui</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
-  <exec_depend>rviz2</exec_depend>
   <exec_depend>xacro</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>

toid_navigation/package.xml

@@ -8,7 +8,6 @@
   <license>MIT</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
-  <depend>navigation2</depend>
   <depend>robot_state_publisher</depend>
   <depend>nav2_behaviors</depend>
   <depend>nav2_planner</depend>
@@ -17,7 +16,6 @@
   <depend>nav2_lifecycle_manager</depend>
   <depend>nav2_bringup</depend>
   <depend>ros2_control</depend>
-  <depend>rviz2</depend>
   <depend>rsl</depend>
 
   <test_depend>ament_lint_auto</test_depend>