From ba8169ccc02726b3b4b2e023d5072b60e58459f0 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Pawe=C5=82=20Kowalski?=
 <82044322+pkowalsk1@users.noreply.github.com>
Date: Fri, 9 Dec 2022 10:08:21 +0100
Subject: [PATCH] Add docker (#1)

* add Dockerfile

* Update README.md

* fix rutx cred

* Update .github/workflows/build-docker-image.yaml

Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com>

Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com>
---
 .github/workflows/build-docker-image.yaml | 51 +++++++++++++++++++++++
 Dockerfile                                | 24 +++++++++++
 README.md                                 | 18 ++++++++
 compose.yaml                              | 13 ++++++
 ros_entrypoint.sh                         |  7 ++++
 5 files changed, 113 insertions(+)
 create mode 100644 .github/workflows/build-docker-image.yaml
 create mode 100755 Dockerfile
 create mode 100644 compose.yaml
 create mode 100755 ros_entrypoint.sh

diff --git a/.github/workflows/build-docker-image.yaml b/.github/workflows/build-docker-image.yaml
new file mode 100644
index 0000000..4a51b95
--- /dev/null
+++ b/.github/workflows/build-docker-image.yaml
@@ -0,0 +1,51 @@
+name: Build/Publish Docker Image 
+
+on:
+  push:
+    branches:
+      - 'main'
+  workflow_dispatch:
+    inputs:
+      tag:
+        description: 'tag that the image will be built with'
+        required: true
+        default: 'noetic'
+      branch:
+        description: 'branch that will be used to build image'
+        required: true
+        default: 'main'
+  
+jobs:
+  build_nmea_gps_ros:
+    runs-on: ubuntu-20.04
+
+    steps:
+        
+    - name: Checkout
+      uses: actions/checkout@v1
+      with:
+        ref: ${{ github.event.inputs.branch }}
+
+    - name: Set up QEMU
+      uses: docker/setup-qemu-action@v1
+      
+    - name: Set up Docker Buildx
+      uses: docker/setup-buildx-action@v1
+      with:
+        version: latest
+    
+    - name: Login to Docker Registry
+      uses: docker/login-action@v1
+      with:
+        registry: docker.io
+        username: ${{ secrets.DOCKERHUB_USERNAME }}
+        password: ${{ secrets.DOCKERHUB_TOKEN }}
+
+    - name: Build and push
+      uses: docker/build-push-action@v2
+      with:
+        context: .
+        file: ./Dockerfile
+        platforms: linux/arm64, linux/amd64
+        push: true
+        tags: husarion/nmea-gps:noetic
\ No newline at end of file
diff --git a/Dockerfile b/Dockerfile
new file mode 100755
index 0000000..2c36809
--- /dev/null
+++ b/Dockerfile
@@ -0,0 +1,24 @@
+FROM ros:noetic-ros-core
+
+SHELL ["/bin/bash", "-c"]
+
+WORKDIR /ros_ws
+
+RUN apt-get update  && \
+    apt-get install -y \
+        git \
+        python3-pip && \
+    pip3 install \
+        rosdep && \
+    git clone -b decode-udp-line https://github.com/ros-drivers/nmea_navsat_driver.git src/nmea_navsat_driver && \
+    rosdep init && \
+    rosdep update --rosdistro $ROS_DISTRO && \
+    rosdep install --from-paths src -y -i && \
+    source /opt/ros/$ROS_DISTRO/setup.bash && \
+    catkin_make -DCATKIN_ENABLE_TESTING=0 -DCMAKE_BUILD_TYPE=Release && \
+    apt-get autoremove -y && \
+    apt-get clean && \
+    rm -rf /var/lib/apt/lists/*
+
+COPY ./ros_entrypoint.sh /
+ENTRYPOINT [ "/ros_entrypoint.sh" ]
\ No newline at end of file
diff --git a/README.md b/README.md
index efca900..068218e 100644
--- a/README.md
+++ b/README.md
@@ -1,2 +1,20 @@
 # nmea-gps-docker
 Building a Docker image for a GPS module
+
+### GPS API 
+
+GPS data in [NMEA](https://en.wikipedia.org/wiki/NMEA_0183) format is forwarded to RPi IP address at port 5000, typically it is `10.15.20.2:5000`. 
+You can make sure the address is correct by typing [http://10.15.20.1](http://10.15.20.1) into your browser (Username: `admin`, Password: `Husarion1`). Navigate to `Services -> GPS -> NMEA -> NMEA forwarding -> Hostname and Port`. Remember that you must be connected to the robot's WIFi network. If changes were needed, finish the connfiguration by pressing `save & apply` at the bottom of the screen.
+
+Data frequency is 1Hz and can be interacted ether with GPSD daemon (`gpsd -N udp://10.15.20.2:5000`) or directly with [ROS package](https://github.com/ros-drivers/nmea_navsat_driver/tree/decode-udp-line) redirecting signal to ROS topic. 
+
+It is recommended to use docker image. To start the container type:
+
+```bash
+git clone https://github.com/husarion/nmea-gps-docker.git
+cd nmea-gps-docker
+
+docker compose up
+```
+
+You should be able to see data on `/panther/fix` topic (`rostopic echo /panther/fix`). 
diff --git a/compose.yaml b/compose.yaml
new file mode 100644
index 0000000..fed7536
--- /dev/null
+++ b/compose.yaml
@@ -0,0 +1,13 @@
+services:
+
+  nmea-gps:
+    image: husarion/nmea-gps:noetic
+    container_name: nmea-gps
+    network_mode: host
+    environment:
+      - ROS_MASTER_URI=http://10.15.20.2:11311
+    command: >
+      rosrun nmea_navsat_driver nmea_socket_driver 
+        __ns:=panther
+        _port:=5000 
+        _local_ip:=10.15.20.2
\ No newline at end of file
diff --git a/ros_entrypoint.sh b/ros_entrypoint.sh
new file mode 100755
index 0000000..49464cb
--- /dev/null
+++ b/ros_entrypoint.sh
@@ -0,0 +1,7 @@
+#!/bin/bash
+set -e
+
+source "/opt/ros/$ROS_DISTRO/setup.bash"
+source "/ros_ws/devel/setup.bash"
+
+exec "$@"
\ No newline at end of file