Warehouse Documentation & Docker

- Add instructions for running warehouse simulation to README
- Create new warehouse docker service based on gazebo service
- Add new warehouse Dockerfile with commands for installing GEAR

docker_env/docker-compose.yml

@@ -70,3 +70,19 @@ services:
         hostname: "rrrobot-env"
         networks:
             - ros
+    
+    # Warehouse Production Service
+    warehouse:
+        # Use Dockerfile in warehouse folder
+        build: ./warehouse
+        # Mount warehouse folder on host to app folder in container
+        volumes:
+            - ../rrrobot_src:/app/rrrobot_src
+        # Set DISPLAY variable and network mode for GUIs
+        environment:
+            - DISPLAY=${IP_ADDRESS}:0.0
+        # Set working directory in container to app folder
+        # working_dir: /home/rrrobot
+        hostname: "rrrobot-env"
+        networks:
+            - ros

docker_env/warehouse/Dockerfile

@@ -0,0 +1,49 @@
+# Warehouse Dockerfile
+
+# Use official image for Gazebo 9.x 
+FROM gazebo:gzserver9
+
+RUN apt-get update
+# Install packages required for developing with gazebo
+RUN apt-get install -y libgazebo9-dev
+RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
+RUN apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+RUN apt-get install -y curl
+RUN curl -sSL 'http://keyserver.ubuntu.com/pks/lookup?op=get&search=0xC1CF6E31E6BADE8868B172B4F42ED6FBAB17C654' | apt-key add -
+RUN apt-get update
+# Install packages required for developing with ROS
+RUN apt-get install -y ros-melodic-desktop-full
+RUN echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
+RUN apt install -y python-rosdep
+RUN rosdep init
+RUN rosdep update
+# user id 1000 should be the same as the host user, so that you can access files
+# from inside the docker container and also on the host
+RUN useradd -u 1000 rrrobot
+# set to no password
+RUN passwd --delete rrrobot
+# add to sudo users
+RUN usermod -aG sudo rrrobot
+# set the entry point
+WORKDIR /home/rrrobot
+RUN chown -R rrrobot:rrrobot /home/rrrobot
+
+# Initialize the environment in .bashrc
+RUN echo "source /opt/ros/melodic/setup.bash" >> /home/rrrobot/.bashrc
+RUN echo "source /usr/share/gazebo/setup.sh" >> /home/rrrobot/.bashrc
+RUN echo "export GAZEBO_MODEL_PATH=/home/rrrobot/rrrobot_src/src/gazebo_models:\$GAZEBO_MODEL_PATH" >> /home/rrrobot/.bashrc
+RUN echo "export GAZEBO_PLUGIN_PATH=/home/rrrobot/rrrobot_src/lib:\$GAZEBO_PLUGIN_PATH" >> /home/rrrobot/.bashrc
+
+USER rrrobot
+
+RUN sudo apt-get update && \
+    sudo apt-get install -y \
+        wget
+
+RUN sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable bionic main" > /etc/apt/sources.list.d/gazebo-stable.list' && \
+    wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add - && \
+    apt-get update && \
+    apt-get install -y \
+        ariac3
+
+CMD ["/bin/bash"]