From 07192f5416559eb466024024cdc7350fff28c0b4 Mon Sep 17 00:00:00 2001
From: Shivang Vijay <shivang.vijay@unboxrobotics.com>
Date: Fri, 8 Mar 2024 19:10:37 +0530
Subject: [PATCH] Added docker file and docker compose to dockerize rolling

---
 Dockerfile         | 12 ++++++++++++
 docker-compose.yml | 43 +++++++++++++++++++++++++++++++++++++++++++
 entrypoint.sh      | 21 +++++++++++++++++++++
 3 files changed, 76 insertions(+)
 create mode 100644 Dockerfile
 create mode 100644 docker-compose.yml
 create mode 100755 entrypoint.sh

diff --git a/Dockerfile b/Dockerfile
new file mode 100644
index 00000000..3582ccc8
--- /dev/null
+++ b/Dockerfile
@@ -0,0 +1,12 @@
+FROM osrf/ros:rolling-desktop
+SHELL ["/bin/bash", "-c"]
+
+RUN curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- -y
+RUN apt update
+COPY . /app/src/rmw_zenoh
+WORKDIR /app
+RUN rosdep install --from-paths src --ignore-src --rosdistro rolling -y
+RUN source /opt/ros/rolling/setup.bash && source "$HOME/.cargo/env" && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
+
+SHELL ["/bin/bash", "-c"]
+ENTRYPOINT ["/app/src/rmw_zenoh/entrypoint.sh"]
diff --git a/docker-compose.yml b/docker-compose.yml
new file mode 100644
index 00000000..5da0f733
--- /dev/null
+++ b/docker-compose.yml
@@ -0,0 +1,43 @@
+version: '3.2'
+services:
+  router:
+    build:
+      context: .
+    image: zenoh:latest
+    stdin_open: true
+    tty: true
+    container_name: router_container
+    command: router
+    volumes:
+    - /dev/shm:/dev/shm
+    network_mode: host
+
+
+  talker:
+    build:
+      context: .
+    image: zenoh:latest
+    stdin_open: true
+    tty: true
+    container_name: talker_container
+    command: talker
+    volumes:
+    - /dev/shm:/dev/shm
+    network_mode: host
+    depends_on:
+    - router
+    
+  listener:
+    build:
+      context: .
+    image: zenoh:latest
+    stdin_open: true
+    tty: true
+    container_name: listener_container
+    command: listener
+    volumes:
+    - /dev/shm:/dev/shm
+    network_mode: host
+    depends_on:
+    - router
+
diff --git a/entrypoint.sh b/entrypoint.sh
new file mode 100755
index 00000000..b5cabb73
--- /dev/null
+++ b/entrypoint.sh
@@ -0,0 +1,21 @@
+#!/bin/bash
+
+source ./install/setup.bash
+
+if [ $1 = "router" ]
+then
+    ros2 run rmw_zenoh_cpp rmw_zenohd
+fi
+
+if [ $1 = "talker" ]
+then
+    export RMW_IMPLEMENTATION=rmw_zenoh_cpp
+    ros2 run demo_nodes_cpp talker
+fi
+
+if [ $1 = "listener" ]
+then
+    export RMW_IMPLEMENTATION=rmw_zenoh_cpp
+    ros2 run demo_nodes_cpp listener
+fi
+