Fixed Build/Runtime errors + Dockerized

Dockerfile

@@ -0,0 +1,30 @@
+FROM ros:humble-ros-base
+
+# Install dependencies
+RUN apt-get update && apt-get install -y --no-install-recommends \
+        python3-pip && \
+        pip3 install flask-socketio websockets websocket-client requests && \
+    rm -rf /var/lib/apt/lists/*
+
+# Clone the repository
+WORKDIR /door_adapter_template_ws/src
+RUN git clone https://github.com/open-rmf/rmf_internal_msgs.git --branch main --single-branch --depth 1
+COPY ./door_adapter_template door_adapter_template/
+
+# Setup the workspace
+WORKDIR /door_adapter_template_ws
+RUN apt-get update && rosdep install --from-paths src --ignore-src --rosdistro=$ROS_DISTRO -y \
+  && rm -rf /var/lib/apt/lists/*
+
+# # Build the workspace
+RUN . /opt/ros/$ROS_DISTRO/setup.sh \
+  && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
+
+# # Ensure the entrypoint script sources the ROS setup
+RUN echo 'source /door_adapter_template_ws/install/setup.bash' >> /ros_entrypoint.sh
+
+# # Ensure proper permissions for entrypoint
+RUN chmod +x /ros_entrypoint.sh
+
+ENTRYPOINT ["/ros_entrypoint.sh"]
+

Readme.md → README.md

@@ -1,10 +1,10 @@
-# door_adapter_template
+# **door_adapter_template**
 
 The objective of this package is to serve as a reference or template for writing a python based RMF door adapter.
 
 > Note: This package is only one such example that may be helpful for users to quickly integrate door control with RMF.
 
-## Step 1: Fill up missing code
+## **Step 1**: Fill up missing code
 Simply fill up certain blocks of code which make `REST` API calls to IOT door.
 These blocks are highlighted as seen below and are found in `DoorClientAPI.py` 
 ```
@@ -46,16 +46,38 @@ Alternatively, if your door offers a websocket port for communication or allows
 
 >Note: you could refer to the example mock door_adapter in the `door_adapter_template/example` folder
 
-## Step 2: Update config.yaml
+## **Step 2**: Update config.yaml
 The `config.yaml` file contains important parameters for setting up the door adapter. There are three broad sections to this file:
 
 1. **name** : the door name to display and called by RMF
 2. **api_endpoint** : REST API endpoint to communicate to the door
 
-## Step 3: Run the door adapter:
+## **Step 3**: Run the door adapter:
 
 Run the command below while passing the paths to the configuration file to operate on.
 
 ```bash
 ros2 run door_adapter door_adapter -c CONFIG_FILE
+```
+
+### **Docker Build**
+
+Run the command below to utilise the root `Dockerfile` to build `door_adapter_template` in docker:
+
+```bash
+docker build -t door_adapter_template:humble .
+```
+
+### **Docker Run**
+
+Run the command below to utilise the root `Dockerfile` to run `door_adapter_template` in docker:
+
+```bash
+docker run -it --rm \
+    --name door_adapter_template_c \
+    --network host \
+    -v /dev/shm:/dev/shm \
+    -v ./door_adapter_template/config.yaml:/door_adapter_template_ws/src/door_adapter_template/config.yaml \
+door_adapter_template:humble /bin/bash -c \
+"source /ros_entrypoint.sh && ros2 run door_adapter_template door_adapter --config_file /door_adapter_template_ws/src/door_adapter_template/config.yaml"
 ```

door_adapter_template/door_adapter_template/DoorClientAPI.py

@@ -3,7 +3,7 @@
 
 class DoorClientAPI:
     def __init__(self, node, config):
-        self.name = 'rmf_door_adapter'
+        self.name = 'door_adapter_template'
         self.timeout = 5  # seconds
         self.debug = False
         self.connected = False

door_adapter_template/door_adapter_template/door_adapter.py

@@ -6,7 +6,7 @@
 import threading
 
 import rclpy
-from DoorClientAPI import DoorClientAPI
+from door_adapter_template.DoorClientAPI import DoorClientAPI
 from rclpy.node import Node
 from rmf_door_msgs.msg import DoorRequest, DoorState, DoorMode
 
@@ -30,7 +30,7 @@ def __init__(self,
 
 class DoorAdapter(Node):
     def __init__(self,config_yaml):
-        super().__init__('door_adapter')
+        super().__init__('door_adapter_template_node')
         self.get_logger().info('Starting door adapter...')
 
         # Get value from config file
@@ -130,8 +130,8 @@ def door_request_cb(self, msg: DoorRequest):
         # command to API. When the adapter receives a close request, it will
         # stop sending the open command to API
         self.get_logger().info(
-            f"[{msg.door_name}] Door mode [{msg.requested_mode.value}] '
-            f'requested by {msg.requester_id}"
+            f"[{msg.door_name}] Door mode [{msg.requested_mode.value}] "
+            f"requested by {msg.requester_id}"
         )
         if msg.requested_mode.value == DoorMode.MODE_OPEN:
             # open door implementation

door_adapter_template/package.xml

@@ -1,10 +1,10 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>door_adapter</name>
+  <name>door_adapter_template</name>
   <version>0.0.0</version>
   <description>A template for an RMF door adapter</description>
-  <maintainer email=""></maintainer>
+  <maintainer email="[email protected]"></maintainer>
   <license>Apache License 2.0</license>
 
   <exec_depend>rmf_door_msgs</exec_depend>

door_adapter_template/setup.cfg

@@ -1,4 +1,4 @@
 [develop]
-script-dir=$base/lib/door_adapter
+script-dir=$base/lib/door_adapter_template
 [install]
-install-scripts=$base/lib/door_adapter
+install-scripts=$base/lib/door_adapter_template

door_adapter_template/setup.py

@@ -1,6 +1,6 @@
 from setuptools import setup
 
-package_name = 'door_adapter'
+package_name = 'door_adapter_template'
 
 setup(
     name=package_name,
@@ -20,7 +20,7 @@
     tests_require=['pytest'],
     entry_points={
         'console_scripts': [
-            'door_adapter = door_adapter.door_adapter:main'
+            'door_adapter = door_adapter_template.door_adapter:main'
         ],
     },
 )