From 3823d7e6ccb3848f264608add12bcb5239565406 Mon Sep 17 00:00:00 2001
From: Max Polzin <polzin.max@gmail.com>
Date: Tue, 28 Nov 2023 18:37:56 +0100
Subject: [PATCH] Initial commit.

---
 .github/workflows/ci.yml | 35 +++++++++++++++++++++++++++++++++++
 Dockerfile               | 12 ++++++++++++
 LICENSE                  | 29 +++++++++++++++++++++++++++++
 build.sh                 |  5 +++++
 ros_entrypoint.sh        |  8 ++++++++
 run.sh                   | 12 ++++++++++++
 6 files changed, 101 insertions(+)
 create mode 100644 .github/workflows/ci.yml
 create mode 100644 Dockerfile
 create mode 100644 LICENSE
 create mode 100755 build.sh
 create mode 100755 ros_entrypoint.sh
 create mode 100755 run.sh

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
new file mode 100644
index 0000000..4faa7e7
--- /dev/null
+++ b/.github/workflows/ci.yml
@@ -0,0 +1,35 @@
+name: ci
+
+on:
+  push:
+    branches:
+      - 'main'
+
+jobs:
+  docker:
+    runs-on: ubuntu-latest
+    steps:
+      -
+        name: Checkout
+        uses: actions/checkout@v3
+      -
+        name: Set up QEMU
+        uses: docker/setup-qemu-action@v2
+      -
+        name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v2
+      -
+        name: Login to DockerHub
+        uses: docker/login-action@v2
+        with:
+          registry: ghcr.io
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+      -
+        name: Build and push
+        uses: docker/build-push-action@v3
+        with:
+          context: .
+          platforms: linux/amd64,linux/arm64
+          push: true
+          tags: ghcr.io/rosblox/${{ github.event.repository.name }}:humble
diff --git a/Dockerfile b/Dockerfile
new file mode 100644
index 0000000..b81b729
--- /dev/null
+++ b/Dockerfile
@@ -0,0 +1,12 @@
+ARG ROS_DISTRO=humble
+
+FROM ros:${ROS_DISTRO}-ros-core
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    ros-${ROS_DISTRO}-foxglove-bridge \
+    && rm -rf /var/lib/apt/lists/*
+
+COPY ros_entrypoint.sh .
+
+RUN echo 'source /opt/ros/humble/setup.bash; ros2 launch foxglove_bridge foxglove_bridge_launch.xml' >> /run.sh && chmod +x /run.sh
+RUN echo 'alias run="su - ros /run.sh"' >> /etc/bash.bashrc
diff --git a/LICENSE b/LICENSE
new file mode 100644
index 0000000..f807366
--- /dev/null
+++ b/LICENSE
@@ -0,0 +1,29 @@
+BSD 3-Clause License
+
+Copyright (c) 2022, ROSbloX
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/build.sh b/build.sh
new file mode 100755
index 0000000..028fcb4
--- /dev/null
+++ b/build.sh
@@ -0,0 +1,5 @@
+#!/bin/bash
+
+REPOSITORY_NAME="$(basename "$(dirname -- "$( readlink -f -- "$0"; )")")"
+
+docker build --progress=plain -t ghcr.io/rosblox/${REPOSITORY_NAME}:humble .
\ No newline at end of file
diff --git a/ros_entrypoint.sh b/ros_entrypoint.sh
new file mode 100755
index 0000000..fe16d31
--- /dev/null
+++ b/ros_entrypoint.sh
@@ -0,0 +1,8 @@
+#!/bin/bash
+set -e
+
+id -u ros &>/dev/null || adduser --quiet --disabled-password --gecos '' --uid ${UID:=1000} --uid ${GID:=1000} ros
+
+source /opt/ros/${ROS_DISTRO}/setup.bash
+
+exec "$@"
diff --git a/run.sh b/run.sh
new file mode 100755
index 0000000..fee9ca9
--- /dev/null
+++ b/run.sh
@@ -0,0 +1,12 @@
+#!/bin/bash
+
+REPOSITORY_NAME="$(basename "$(dirname -- "$( readlink -f -- "$0"; )")")"
+
+docker run -it --rm \
+--network=host \
+--ipc=host \
+--pid=host \
+--env UID=$(id -u) \
+--env GID=$(id -g) \
+--privileged \
+ghcr.io/rosblox/${REPOSITORY_NAME}:humble