Repo Re-Org, More like ROS Package

- Reorganize repo so docker stuff is
  a folder within fast_rrt_ros ROS package
- Update filepaths in README
- Update `build_and_run_docker.bash`
  to use main folder as build context,
  but use Dockerfile inside docker folder
- Update filepaths in Dockerfile

README.md

@@ -21,19 +21,19 @@ ROS Global Path Planner Plugin implementation of the [Fast-RRT* algorithm](https
 
 ## Pseudocode
 
-<img src="./docker/fast_rrt_ros/docs/fast_rrt.PNG" width="500">
+<img src="./docs/fast_rrt.PNG" width="500">
 
 Fast-RRT* is more optimal than its predecessors RRT and RRT* through its novel method of creating an additional node when planning around obstacles. 
 
 The node placement draws upon the observation that paths that traverse closer to obstacles in the environment tend to be shorter, or more optimal, overall. 
 
-Check out the [documentation file](./docker/fast_rrt_ros/docs/Fast_RRTdocumentation.md) for an in depth explanation of how the Fast-RRT* functions work.
+Check out the [documentation file](./docs/Fast_RRTdocumentation.md) for an in depth explanation of how the Fast-RRT* functions work.
 
 ## ROS
 
 The Fast-RRT* code is a plugin to the `global_planner` in the [move_base](http://wiki.ros.org/move_base) navigation stack.
 
-<img src="./docker/fast_rrt_ros/docs/move_base.png" width="700">
+<img src="./docs/move_base.png" width="700">
 
 This has been tested on the following ROS 1 distributions:
 
@@ -73,7 +73,7 @@ We have containerized our planner to make testing quick and easy. Due to the use
 
 Once you have setup Docker and a way of displaying GUI applications running inside a Docker container, **check the sections below**.
 
-Next, build the docker image and run the container with the included bash script: [build_and_run_docker.bash](./build_and_run_docker.bash).
+Next, build the docker image and run the container with the included bash script: `./docker/build_and_run_docker.bash`. **NOTE**: Do not run this script from the `docker` folder.
 
 Assuming nothing went wrong you should now be inside the husky image container.
 
@@ -81,11 +81,11 @@ Assuming nothing went wrong you should now be inside the husky image container.
 
 There are two important locations inside the container - `/opt/ros/$ROS_DISTRO` where all the ros debian packages such as the husky stack are installed and `/root/catkin_ws` which contains any source packages.
 
-`/root/catkin_ws` contains a `scripts` and a `src` folder. The former contains scripts for running Gazebo, Rviz, and the planner in various modes. The latter contains the source code for the Fast-RRT* planner which was copied into the image from [docker/fast_rrt_ros](./docker/fast_rrt_ros/).
+`/root/catkin_ws` contains a `scripts` and a `src` folder. The former contains scripts for running Gazebo, Rviz, and the planner in various modes. The latter contains the source code for the Fast-RRT* planner which was copied into the image.
 
-Other than the planner source code, you can also modify the husky description and navigation launch files found in `/opt/ros/$ROS_DISTRO/share/husky_description` and `/opt/ros/$ROS_DISTRO/share/husky_navigation` respectively. Modified versions are included in the [docker](./docker/) folder and are copied into the image when the [Dockerfile](./docker/Dockerfile) is built by [build_and_run_docker.bash](./build_and_run_docker.bash).
+Other than the planner source code, you can also modify the husky description and navigation launch files found in `/opt/ros/$ROS_DISTRO/share/husky_description` and `/opt/ros/$ROS_DISTRO/share/husky_navigation` respectively. Modified versions are included in the [docker](./docker/) folder and are copied into the image when the [Dockerfile](./docker/Dockerfile) is built by [build_and_run_docker.bash](./docker/build_and_run_docker.bash).
 
-The [Fast-RRT* planner configuration file](./docker/fast_rrt_ros/config/planner.yaml) is copied into the appropriate location in the image as specified in the [Dockerfile](./docker/Dockerfile). This has parameters that control the behavior of the planner and should be adjusted before running the docker container.
+The [Fast-RRT* planner configuration file](./config/planner.yaml) is copied into the appropriate location in the image as specified in the [Dockerfile](./docker/Dockerfile). This has parameters that control the behavior of the planner and should be adjusted before running the docker container.
 
 The [husky description](./docker/husky_description/urdf/husky.urdf.xacro) was modified from the default to enable the LiDAR sensor.
 

docker/Dockerfile

@@ -18,11 +18,11 @@ RUN apt-get update && \
 # Copy launch files and husky description to appropriate locations
 ARG HUSKY_NAV_LAUNCH=husky_navigation/launch
 ARG HUSKY_DES_URDF=husky_description/urdf
-COPY ./$HUSKY_NAV_LAUNCH/move_base_fast_rrt_star.launch /opt/ros/$ROS_DISTRO/share/$HUSKY_NAV_LAUNCH/move_base_fast_rrt_star.launch
-COPY ./$HUSKY_NAV_LAUNCH/move_base_fast_rrt_star_debug.launch /opt/ros/$ROS_DISTRO/share/$HUSKY_NAV_LAUNCH/move_base_fast_rrt_star_debug.launch
-COPY ./$HUSKY_NAV_LAUNCH/move_base_fast_rrt_star_mapless_demo.launch /opt/ros/$ROS_DISTRO/share/$HUSKY_NAV_LAUNCH/move_base_fast_rrt_star_mapless_demo.launch
-COPY ./$HUSKY_NAV_LAUNCH/move_base_fast_rrt_star_mapless_demo_debug.launch /opt/ros/$ROS_DISTRO/share/$HUSKY_NAV_LAUNCH/move_base_fast_rrt_star_mapless_demo_debug.launch
-COPY ./$HUSKY_DES_URDF/husky.urdf.xacro /opt/ros/$ROS_DISTRO/share/$HUSKY_DES_URDF/husky.urdf.xacro
+COPY ./docker/$HUSKY_NAV_LAUNCH/move_base_fast_rrt_star.launch /opt/ros/$ROS_DISTRO/share/$HUSKY_NAV_LAUNCH/move_base_fast_rrt_star.launch
+COPY ./docker/$HUSKY_NAV_LAUNCH/move_base_fast_rrt_star_debug.launch /opt/ros/$ROS_DISTRO/share/$HUSKY_NAV_LAUNCH/move_base_fast_rrt_star_debug.launch
+COPY ./docker/$HUSKY_NAV_LAUNCH/move_base_fast_rrt_star_mapless_demo.launch /opt/ros/$ROS_DISTRO/share/$HUSKY_NAV_LAUNCH/move_base_fast_rrt_star_mapless_demo.launch
+COPY ./docker/$HUSKY_NAV_LAUNCH/move_base_fast_rrt_star_mapless_demo_debug.launch /opt/ros/$ROS_DISTRO/share/$HUSKY_NAV_LAUNCH/move_base_fast_rrt_star_mapless_demo_debug.launch
+COPY ./docker/$HUSKY_DES_URDF/husky.urdf.xacro /opt/ros/$ROS_DISTRO/share/$HUSKY_DES_URDF/husky.urdf.xacro
 
 # Declare some environment variables
 ENV ROS_WORKSPACE=/root/catkin_ws
@@ -31,15 +31,18 @@ ENV ROS_PACKAGE_PATH=/root/catkin_ws/src:/opt/ros/$ROS_DISTRO/share
 # Add setup.bash sourcing to bashrc
 RUN echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> /etc/bash.bashrc
 
-# Place Fast-RRT* in catkin workspace
-COPY ./fast_rrt_ros/ /root/catkin_ws/src/fast_rrt_ros
-COPY ./CMakeLists.txt /root/catkin_ws/src/CMakeLists.txt
+# Copy catkin_ws CMakeLists, scripts, and planner configuration to image
+WORKDIR /root/catkin_ws/
+COPY ./docker/CMakeLists.txt ./src/CMakeLists.txt
+COPY ./scripts/ ./scripts
+COPY ./config/planner.yaml /opt/ros/$ROS_DISTRO/share/husky_navigation/config/planner.yaml
 
-# Copy scripts to image
-COPY ./scripts/ /root/catkin_ws/scripts/
-
-# Copy planner configuration
-COPY ./fast_rrt_ros/config/planner.yaml /opt/ros/$ROS_DISTRO/share/husky_navigation/config/planner.yaml
-
-# Set working directory
-WORKDIR /root/catkin_ws/
+# Copy Fast-RRT* to catkin workspace in image
+WORKDIR /root/catkin_ws/src/fast_rrt_ros
+COPY ./include/ ./include/
+COPY ./src/ ./src/
+COPY ./CMakeLists.txt ./CMakeLists.txt
+COPY ./fast_rrt_star_planner_plugin.xml ./fast_rrt_star_planner_plugin.xml
+COPY ./LICENSE ./LICENSE
+COPY ./package.xml ./package.xml
+COPY ./README.md ./README.md

docker/build_and_run_docker.bash

@@ -15,7 +15,7 @@ then
 fi
 
 # Build husky_image from Dockerfile in this directory
-docker build -t husky_image ./docker/
+docker build -t husky_image -f ./docker/Dockerfile .
 
 # Run husky_image with specified environment variables, volume mounting, and host networking
 docker run \