Working Dockerfile. Started docker-config.

Run docker-compose up to bring up network.

Docker_setup_ROS.sh

@@ -0,0 +1,44 @@
+# ROS Setup install script for new jetsons
+# Source: https://github.com/jetsonhacks/installROSTX1/blob/master/installROS.sh
+# Setup Locale
+# update-locale LANG=C LANGUAGE=C LC_ALL=C LC_MESSAGES=POSIX
+# Setup sources.lst
+sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
+# Setup keys
+apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 0xB01FA116
+# Installation
+apt update
+# Add Individual Packages here
+# You can install a specific ROS package (replace underscores with dashes of the package name):
+# apt-get install ros-kinetic-PACKAGE
+# e.g.
+# apt-get install ros-kinetic-navigation
+# To find available packages:
+# apt-cache search ros-kinetic
+#
+apt install -y python-rosdep python-rosinstall terminator ros-kinetic-rqt ros-kinetic-rqt-common-plugins ros-kinetic-tf2-ros \
+ ros-kinetic-pcl-conversions ros-kinetic-cv-bridge ros-kinetic-tf ros-kinetic-map-server ros-kinetic-rviz ros-kinetic-hector-slam \
+ ros-kinetic-hector-slam-launch ros-kinetic-rtabmap-ros ros-kinetic-robot-localization ros-kinetic-navigation ros-kinetic-robot-state-publisher \
+ python-wstool ninja-build libsuitesparse-dev ros-kinetic-tf2-tools ros-kinetic-hardware-interface ros-kinetic-controller-manager ros-kinetic-control-msgs \
+ ros-kinetic-joint-limits-interface ros-kinetic-transmission-interface ros-kinetic-control-toolbox libgoogle-glog-dev google-mock libcairo2-dev \
+ protobuf-compiler liblua5.3-dev libopencv-dev ros-kinetic-rosparam-shortcuts
+# Initialize rosdep
+rosdep init
+
+# Google Cartographer installation from https://google-cartographer-ros.readthedocs.io/en/latest/
+# (Latest as of 4/27/2017, at least)
+cd /ws/zebROS_ws
+# Merge the cartographer_ros.rosinstall file and fetch code for dependencies.
+wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_ros/master/cartographer_ros.rosinstall
+wstool update -t src
+
+# Install deb dependencies.
+# The command 'rosdep init' will print an error if you have already
+# executed it since installing ROS. This error can be ignored.
+rosdep update
+rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
+
+rm -rf /ws/zebROS_ws/src/zed-ros-wrapper-master /ws/zebROS_ws/src/zed_covariance # Disable ZED stuff 
+source /opt/ros/kinetic/setup.bash
+catkin_make_isolated --install --use-ninja
+source install_isolated/setup.bash

Dockerfile

@@ -0,0 +1,16 @@
+FROM ros:kinetic-robot
+
+# Copy code to /ws
+ADD zebROS_ws/src /ws/zebROS_ws/src
+ADD zebravision/ /ws/zebravision
+ADD navXTimeSync/ /ws/navXTimeSync
+ADD Docker_setup_ROS.sh /
+
+# Run script
+RUN bash /Docker_setup_ROS.sh
+
+# Delete source code? If you really want a tiny image do this
+# RUN rm -rf /ws/zebravision /ws/zebROS_ws/src /ws/navXTimeSync
+
+# Clear APT lists to keep size down
+#RUN rm -rf /var/lib/apt/lists/

docker-compose.yml

@@ -0,0 +1,33 @@
+version: '3'
+#volumes:
+  # Build a directory structure similar to the 2017VisionCode
+  # so that CMake finds dependencies
+  # - zebROS_ws/src:/ws/zebROS_ws/src
+  # - zebravision/:/ws/zebravision
+  # - navXTimeSync/:/ws/navXTimeSync
+  # Disabled right now because code is copied in on build
+services:
+  master:
+    image: ros:kinetic-ros-core
+    environment:
+      - "ROS_HOSTNAME=master"
+    command:
+      - roscore
+
+  compute:
+    build:
+      context: .
+      dockerfile: Dockerfile
+    environment:
+      - "ROS_HOSTNAME=compute"
+      - "ROS_MASTER_URI=http://master:11311"
+    container_name: master
+    command: bash -c "source /ws/zebROS_ws/devel_isolated/setup.bash && roslaunch controller_node controller_compute"
+
+  zed:
+   build: .
+   container_name: zed
+   environment:
+     - "ROS_HOSTNAME=zed"
+     - "ROS_MASTER_URI=http://master:11311"
+   command: bash -c "source /ws/zebROS_ws/devel_isolated/setup.bash && roslaunch controller_node controller_compute"

zebROS_ws/src/controller_node/launch/controller_master.launch

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 
 <launch>
-  <!-- 
+  <!--
   Master Node Launcher
   * ZED Wrapper Instance
   * Goal Detection Node
@@ -25,7 +25,7 @@
   <arg name="down_sample" default="true" />
   <arg name="sub_rate" default="10" />
   <arg name="pub_rate" default="1" />
-  
+
   <group ns="$(arg name)">
     <include file="$(find zed_wrapper)/launch/zed_camera.launch">
       <arg name="svo_file" value="$(arg svo_file)" />