From 549381fcc8c5dd7d875c9ef3eb57b57072e8a73b Mon Sep 17 00:00:00 2001
From: Rooholla-KhorramBakht <learn.kho@gmail.com>
Date: Tue, 23 Apr 2024 15:08:12 -0400
Subject: [PATCH] nav2 dockerfile is added

---
 Dockerfile.nav2 | 43 +++++++++++++++++++++++++++++++++++++++++++
 Makefile        |  3 +++
 2 files changed, 46 insertions(+)
 create mode 100644 Dockerfile.nav2

diff --git a/Dockerfile.nav2 b/Dockerfile.nav2
new file mode 100644
index 0000000..0036845
--- /dev/null
+++ b/Dockerfile.nav2
@@ -0,0 +1,43 @@
+# FROM isaac_ros_dev-aarch64
+FROM ros:humble
+ENV DEBIAN_FRONTEND=noninteractive
+SHELL ["/bin/bash", "-c"]
+# uodate and install dependencies 
+RUN apt-get update && apt-get install -y \
+    ros-humble-rmw-cyclonedds-cpp ros-humble-rosidl-generator-dds-idl \
+    ros-humble-realsense2-camera \
+    ros-humble-pointcloud-to-laserscan \
+    libyaml-cpp-dev \
+    # ros-humble-isaac-ros-visual-slam \
+    # ros-humble-isaac-ros-occupancy-grid-localizer\
+    libboost-all-dev\
+    build-essential \
+    cmake \
+    git \
+    && rm -rf /var/lib/apt/lists/*
+
+# Cheange the ROS2 RMW to CycloneDDS as instructed by Unitree
+RUN cd / && git clone https://github.com/unitreerobotics/unitree_ros2 && cd /unitree_ros2/cyclonedds_ws/src && \
+git clone https://github.com/ros2/rmw_cyclonedds -b humble && git clone https://github.com/eclipse-cyclonedds/cyclonedds -b releases/0.10.x &&\
+cd .. && colcon build --packages-select cyclonedds && source /opt/ros/humble/setup.bash && colcon build
+
+# RUN echo "source /opt/ros/humble/setup.bash" >>  /usr/local/bin/scripts/workspace-entrypoint.sh
+# RUN echo "source /unitree_ros2/cyclonedds_ws/install/setup.bash" >>  /usr/local/bin/scripts/workspace-entrypoint.sh
+# RUN echo "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >>  /usr/local/bin/scripts/workspace-entrypoint.sh
+# RUN echo "export CYCLONEDDS_URI='<CycloneDDS><Domain><General><Interfaces> <NetworkInterface name="eth0" priority="default" multicast="default" />  </Interfaces></General></Domain></CycloneDDS>'" >>  /usr/local/bin/scripts/workspace-entrypoint.sh
+
+# copy the go2py ros2 nodes
+COPY deploy/dock_ws/src /nav2_ws/src
+# RUN cd /dock_ws && source /opt/ros/humble/setup.bash && colcon build --symlink-install
+
+# Compile the C++ hypervisor bridge
+COPY deploy/dds_bridge /dds_bridge
+WORKDIR /dds_bridge
+# RUN ./install.sh && mkdir build && cd build && cmake .. && make
+
+# Copy the script to start the nodes
+COPY deploy/scripts /root/scripts
+COPY deploy/launch /root/launch
+# set the entrypoint to bash
+ENTRYPOINT ["/bin/bash"]
+# ENTRYPOINT ["/bin/bash", "/root/scripts/dock_hw_start.sh"]
diff --git a/Makefile b/Makefile
index 3a7a43f..3fd65b1 100644
--- a/Makefile
+++ b/Makefile
@@ -4,6 +4,9 @@ docker_dock:
 docker_robot:
 	@docker build --no-cache --tag go2py_robot_hw:latest -f Dockerfile.robot .
 
+docker_nav:
+	@docker build --no-cache --tag go2py_nav:latest -f Dockerfile.nav2 .
+
 docker_dock_install:
 	@cp deploy/scripts/go2py-dock-hw-nodes.service /etc/systemd/system/
 	@systemctl enable go2py-dock-hw-nodes.service