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+# Create an image configured with ROS2 including colcon, Nodejs and rclnodejs source 
+# Supported ARGS:
+#   ROS_DISTRO = [foxy, galactic, humble, rolling], default=rolling
+#   NODE_MAJOR_VER = [12, 14, 16, 18, 19], default=19
+#   BRANCH = rclnodejs git branch, default=develop
+#
+# examples: 
+#
+# Build image named 'rclnodejs' and run it with the rclnode test suite
+#
+#    docker build -t rclnodejs  .
+#    docker run -it rclnodejs npm test
+#
+#
+# Build an image for a specific branch of rclnodejs, version of ROS2 and Nodejs use:
+#
+#     docker build -t <image_name> --build-arg DISTRO=galactic .
+#     docker build -t <image_name>  \
+#        --build-arg ROS_DISTRO=humble \
+#        --build-arg BRANCH=humble-hawksbill \
+#        --build-arg NODE_MAJOR_VER=18 .
+#
+#
+# Build and run:
+#     docker run -it --rm $(docker build -q .)
+#
+
+# use 
+ARG ROS_DISTRO=rolling
+FROM ros:${ROS_DISTRO}
+
+# Install dependencies, including Nodejs
+ARG NODE_MAJOR_VER=19
+RUN apt-get update -y \
+    && apt-get install -y curl sudo \
+    && curl -fsSL https://deb.nodesource.com/setup_${NODE_MAJOR_VER}.x | sudo -E bash - \
+    && apt-get install -y nodejs
+
+# clone a branch of the rclnodejs repo, build addon libs, generate corresponding JS msgs
+ARG BRANCH=develop
+WORKDIR /rosdev
+SHELL ["/bin/bash", "-c"]
+RUN source /opt/ros/${ROS_DISTRO}/setup.bash \
+    && apt install ros-${ROS_DISTRO}-test-msgs \
+    && apt install ros-${ROS_DISTRO}-example-interfaces \
+    && git clone -b ${BRANCH} --single-branch https://github.com/RobotWebTools/rclnodejs.git \
+    && cd /rosdev/rclnodejs \
+    && npm i
+
+WORKDIR /rosdev/rclnodejs
+CMD [ "bash" ]