Add ROS1 dockerfile

* Modeled after https://github.com/nachovizzo/ros_in_docker
* Clarify install instructions in README

Signed-off-by: Ryan Friedman <[email protected]>

Author: Ryanf55

README.md

@@ -7,22 +7,49 @@ This package includes a global planner based on Dubins RRT* enabling low altitud
 ![overview3](https://github.com/ethz-asl/terrain-navigation/assets/5248102/90e43b60-ea8c-49db-9fb3-257b145fc35c)
 
 ## Setup
-Install the dependencies. This package depends on gdal, to read georeferenced images and GeoTIFF files.
+
+### Setting up the Build Environment using Docker
+
+If your operating system doesn't support ROS 1 noetic, docker is a great alternative. 
+
+First, create the image, with the build context at the root of this repo
+
+```
+docker build --file docker/Dockerfile --tag terrain-navigation-ros1 .
+```
+
+You can see the image exists:
+```
+docker images
+>>> REPOSITORY                TAG       IMAGE ID       CREATED        SIZE
+>>> terrain-navigation-ros1   latest    5565f845ab4f   2 weeks ago    774MB
 ```
-apt install libgdal-dev
+
+Next, run the image, mounting in the source into a workspace. All the dependencies are now installed.
+```
+docker run --network=host -it -v $(pwd):/root/catkin_ws/src/terrain-navigation -w /root/catkin_ws terrain-navigation-ros1 bash
 ```
+
+### Running the Build
+
 Configure the catkin workspace
 ```
 catkin config --extend "/opt/ros/noetic"
 catkin config --merge-devel
 ```
 
-Pull in dependencies using rosinstall / rosdep
+For dependencies that do not have binaries available, pull them in using rosinstall.
 ```
 wstool init src src/terrain-navigation/dependencies.rosinstall
 wstool update -t src -j4
+```
+
+For dependencies available through binaries, use rosdep.
+This package depends on [GDAL](https://gdal.org/index.html) to read georeferenced images and GeoTIFF files.
+```
 rosdep update
-rosdep install --from-paths src --ignore-src -y --rosdistro noetic
+source /opt/ros/noetic/setup.bash
+rosdep install --from-paths src --ignore-src -y
 ```
 
 Build the package
@@ -32,6 +59,7 @@ catkin build -j$(nproc) -l$(nproc) terrain_navigation_ros
 ```
 
 ## Running with PX4 SITL(Software-In-The-Loop)
+
 To setup PX4, clone the [ETHZ ASL PX4 autopilot project](https://github.com/ethz-asl/ethzasl_fw_px4/tree/pr-hinwil-testing)
 The setup instructions can be found in the [documentation](https://docs.px4.io/main/en/dev_setup/dev_env_linux_ubuntu.html)
 

docker/Dockerfile

@@ -0,0 +1,29 @@
+# https://github.com/osrf/docker_images/blob/df19ab7d5993d3b78a908362cdcd1479a8e78b35/ros/noetic/ubuntu/focal/ros-core/Dockerfile
+FROM ros:noetic-ros-core-focal
+
+SHELL ["/bin/bash", "-c"]
+
+WORKDIR /root/catkin_ws/src/terrain-navigation
+
+COPY mav_planning_rviz/package.xml mav_planning_rviz/package.xml
+COPY planner_msgs/package.xml planner_msgs/package.xml
+COPY terrain_navigation/package.xml terrain_navigation/package.xml
+COPY terrain_navigation_ros/package.xml terrain_navigation_ros/package.xml
+COPY terrain_planner/package.xml terrain_planner/package.xml
+COPY terrain_planner_benchmark/package.xml terrain_planner_benchmark/package.xml
+
+WORKDIR /root/catkin_ws/
+
+RUN apt-get update \
+    # https://ros.org/reps/rep-2001.html#dev-tools
+    && DEBIAN_FRONTEND=noninteractive apt-get install -y --no-install-recommends \
+        ros-dev-tools \
+        ros-noetic-catkin \
+        python3-catkin-tools \
+        python3-pip \
+    && rosdep init \
+    && rosdep update \
+    && DEBIAN_FRONTEND=noninteractive rosdep install --from-paths src --ignore-src -r -y \
+    && python3 -m pip install \
+        wstool \
+    && rm -rf /var/lib/apt/lists/*