Add a Dockerfile and instructions on how to build it and how to use it

Signed-off-by: jparisu <[email protected]>

docker/Dockerfile

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+#########################################################################################
+# DDS Recorder Demos Dockerfile
+#########################################################################################
+
+FROM ubuntu:jammy
+
+# Avoids using interactions during building
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Use a bash shell so it is possigle to run things like `source` (required for colcon builds)
+SHELL ["/bin/bash", "-c"]
+
+# Avoid interactuation with installation of some package that needs the locale.
+ENV TZ=Europe/Madrid
+RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone
+
+################################
+# Download system dependencies #
+################################
+RUN apt update && \
+    apt install -y cmake g++ pip wget git && \
+    apt install -y libasio-dev libtinyxml2-dev && \
+    apt install -y libssl-dev && \
+    apt install -y libyaml-cpp-dev liblz4-dev libzstd-dev && \
+    pip3 install -U colcon-common-extensions vcstool
+
+###########################
+# Download eProsima repos #
+###########################
+# Download all dependencies for dds recorder (except the recorder)
+RUN mkdir -p /home/recorder/src
+COPY recorder.repos /home/recorder/recorder.repos
+RUN cd /home/recorder && \
+    vcs import src < recorder.repos
+# Copy DDS Recorder private repo
+COPY ddsrecorder /home/recorder/src
+
+########################
+# Build eProsima repos #
+########################
+RUN cd /home/recorder && \
+    colcon build --cmake-args "-DCOMPILE_EXAMPLES=ON"
+
+#################
+# Add resources #
+#################
+COPY resources/ /home/configurations
+
+# Source built workspace
+RUN echo "source /home/recorder/install/setup.bash" >> ~/.bashrc

docker/README.md

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+# eProsima DDS Recorder docker Image
+
+This image is installed with a DDS Recorder Prototype that is able to run a `DDS Recorder` application
+Fast DDS, DDS Recorder and all dependencies are already installed in the image.
+In order to run the image use the following command.
+
+---
+
+## DDS Recorder Tool
+
+This tool is a CLI tool with several arguments and configured by a `.yaml` file.
+This tool subscribes to allowed DDS Topics and record the data received in a `.mcap` file.
+The schemas to deserialize this data in FoxGlove are also written in the `.mcap` file in `.msg` ROS 2 format.
+Those schemas are generated when the tool has access to the Type Object or Type Identifier of the Data Type used.
+
+### How to retrieve Data Type to the tool
+
+Fast DDS does not send the Data Type information by default, it must be configured to do so.
+First of all, when generating the Types using Fast DDS Gen, it must be added the option `-typeobject` in order to generate the needed code to fill the TypeObject data.
+
+For native types (Data Types that does not rely in other Data Types) this is enough, as Fast DDS will send the TypeObject by default.
+However, for more complex types, it is required to use `TypeInformation` mechanism.
+In the Fast DDS `DomainParticipant` set the following QoS in order to send this information:
+
+```cpp
+DomainParticipantQos pqos;
+pqos.wire_protocol().builtin.typelookup_config.use_server = true;
+```
+
+---
+
+## Run DDS Recorder
+
+There are some configurations already available in the container under directory `/home/configurations/`
+
+- `simple_configuration.yaml` Configuration with just the basics to run the executable.
+- `complete_configuration.yaml` Configuration with all the possible configurations available.
+- `share_configuration.yaml` Ccondifureonfiguration to store the result files in a shared volume directory.
+
+In order to execute the `DDS Recorder` use the following command:
+> `ddsrecorder --config-path configurations/<configuration>.yaml`
+
+In order to know all the possible arguments supported by this tool, use the command:
+> `ddsrecorder --help` or `ddsrecorder -h`
+
+In order to see further information and debugging info about what the tool is executing, use the argument `--debug`:
+> `ddsrecorder --config-path configurations/<configuration>.yaml --debug`
+
+### Use Custom Configurations
+
+There are 2 ways to write a custom configuration:
+
+1. Using a text editor (e.g. nano) inside the container and modifying a `.yaml` file.
+2. Using Docker volumes and adding a `.yaml` file inside a container when running it.
+
+### Run with shared volume
+
+In order to automatically retrieve every `.mcap` file generated inside the container, use a docker volume.
+First, have a folder `share_volume` in your current workspace (if not in this workspace, add the absolute path in the docjer call).
+Then run the following command:
+> `docker run --rm --interactive -t --workdir /home --net=host --volume $(PWD)/share_volume/:/home/share_volume  ddsrecorder:figure`
+
+Once inside the docker, using configuration `share_configuration` the `.mcap` result files will be stored in the `share_volume` directory inside the container, and thus they will be accessible from the host.
+
+Launch the `DDS Recorder` with the following command
+> `ddsrecorder --config-path configurations/share_configuration.yaml`
+
+---
+
+## Configuration
+
+This first version does support the following configurations:
+
+|               | Description                                                 | Type           | Default   |
+|---------------|-------------------------------------------------------------|----------------|-----------|
+| allowlist     | List of topics that are going to be recorded                | List of topics | Empty     |
+| blocklist     | List of topics that are **not** going to be recorded        | List of topics | Empty     |
+| domain        | DDS Domain to discover and subscribe to topics allowed      | integer        | 0         |
+| extension     | File extension for the result file                          | string         | .mcap     |
+| filename      | File name for the result file                               | string         | MANDATORY |
+| path          | Path to result file                                         | string         | ./        |
+| use-timestamp | Whether to add or not the timestamp to the result file name | bool           | true      |
+
+The topics in `allowlist` and `blocklist` are filled with elements with field `name` referring to the Topic name.
+Optionally each element can have the element `type` referring to the Topic Data Type name.
+Both name and allow wildcards (`*`).

docker/__internal_info__.md

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+# Instructions to build the Docker image
+
+## Branches
+
+- Fast DDS (``)
+  - Modify `recorder.repos` file
+  - IntrospectionExample + DynamicTypes fixes : `experimental/filthy/complex-dynamic-data`
+- dev-utils
+  - Modify `recorder.repos` file
+  - Tree + File + TimeToString : `feature/time_to_string`
+- DDS Recorder
+  - Checkout in `ddsrecorder` directory
+  - Requires access to private repository
+  - Tool : `feature/tool`
+
+## Commands
+
+Before building the Dockerfile, the DDS Recorder directory must be in directory `./ddsrecorder`
+
+```sh
+# Build docker image
+docker build --rm -t ddsrecorder:figure -f Dockerfile .
+```

docker/recorder.repos

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+repositories:
+    foonathan_memory_vendor:
+        type: git
+        url: https://github.com/eProsima/foonathan_memory_vendor.git
+        version: master
+    fastcdr:
+        type: git
+        url: https://github.com/eProsima/Fast-CDR.git
+        version: master
+    fastdds:
+        type: git
+        url: https://github.com/eProsima/Fast-DDS.git
+        version: experimental/filthy/complex-dynamic-data
+    dev-utils:
+        type: git
+        url: https://github.com/eProsima/dev-utils.git
+        version: feature/time_to_string

docker/resources/complete_configuration.yaml

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+
+# Allowed topics
+allowlist:
+  - name: "*"  # Allow all topics
+
+# Blocked topics
+blocklist:
+  - name: "add_blocked_topics_list_here"
+
+# Simple Participant domain
+domain: 0
+
+# Recorder output file
+extension: ".mcap"
+filename: "output"
+use-timestamp: true

docker/resources/share_configuration.yaml

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+
+# Allowed topics
+allowlist:
+  - name: "*"  # Allow all topics
+
+# Blocked topics
+blocklist:
+  - name: "add_blocked_topics_list_here"
+
+# Simple Participant domain
+domain: 0
+
+# Recorder output file
+extension: ".mcap"
+path: "/home/share_volume/"
+filename: "output"
+use-timestamp: true

docker/resources/simple_configuration.yaml

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+
+# Simple Participant domain
+domain: 0
+
+# Recorder output file
+filename: "output"
+use-timestamp: false