From 5cfa4b50d2b87b3892128e47e3b65d656a6facaf Mon Sep 17 00:00:00 2001
From: Justin Berger <j.david.berger@gmail.com>
Date: Thu, 23 Feb 2023 10:46:21 -0700
Subject: [PATCH] Added docker assets

---
 .github/workflows/docker.yml | 45 ++++++++++++++++++++++++++++++++++++
 Dockerfile.ros               | 26 +++++++++++++++++++++
 2 files changed, 71 insertions(+)
 create mode 100644 .github/workflows/docker.yml
 create mode 100644 Dockerfile.ros

diff --git a/.github/workflows/docker.yml b/.github/workflows/docker.yml
new file mode 100644
index 0000000..43df8db
--- /dev/null
+++ b/.github/workflows/docker.yml
@@ -0,0 +1,45 @@
+name: Build Docker
+
+on:
+  push:
+  create:
+    tags: [ master ]
+  workflow_dispatch:
+
+env:
+  REGISTRY: ghcr.io
+  IMAGE_NAME: ${{ github.repository }}/ros
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    steps:
+      -
+        name: Checkout
+        uses: actions/checkout@v3
+
+      - name: Log in to the Container registry
+        uses: docker/login-action@f054a8b539a109f9f41c372932f1ae047eff08c9
+        with:
+          registry: ${{ env.REGISTRY }}
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Extract metadata (tags, labels) for Docker
+        id: meta
+        uses: docker/metadata-action@98669ae865ea3cffbcbaa878cf57c20bbf1c6c38
+        with:
+          images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
+      -
+        name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v2
+
+      -
+        name: Build and push
+        uses: docker/build-push-action@v4
+        with:
+          context: .
+          file: ./Dockerfile.ros
+          push: true
+          tags: ${{ steps.meta.outputs.tags }}
+          labels: ${{ steps.meta.outputs.labels }}
diff --git a/Dockerfile.ros b/Dockerfile.ros
new file mode 100644
index 0000000..4769ed7
--- /dev/null
+++ b/Dockerfile.ros
@@ -0,0 +1,26 @@
+FROM ros:noetic-ros-core-focal
+RUN mkdir /source
+
+ARG DEBIAN_FRONTEND=noninteractive
+
+RUN rm -f /etc/apt/apt.conf.d/docker-clean; echo 'Binary::apt::APT::Keep-Downloaded-Packages "true";' > /etc/apt/apt.conf.d/keep-cache
+RUN --mount=type=cache,target=/var/cache/apt --mount=type=cache,target=/var/lib/apt \
+ apt update && apt-get install --no-install-recommends -y \
+    build-essential \
+    udev usbutils	 \
+    libtool \
+    libeigen3-dev \
+    git libusb-dev libusb-1.0-0-dev \
+    ros-noetic-tf
+
+SHELL ["/bin/bash", "-c"]
+
+RUN --mount=type=bind,target=/source,source=.,rw --mount=type=cache,target=/build/libsurvive,id=build-survive \
+    mkdir -p /build/libsurvive && \
+    source "/opt/ros/noetic/setup.bash" && \
+    cd /build/libsurvive && cmake -DCMAKE_INSTALL_PREFIX=/opt/ros/noetic -DCMAKE_BUILD_TYPE=Release /source && make -j4 install
+
+RUN mkdir -p /root/.config
+
+ENTRYPOINT ["./ros_entrypoint.sh", "rosrun", "survive_publisher", "node"]
+CMD ["_v:=100"]
\ No newline at end of file