Merge dockerfiles

.docker/Dockerfile.CI → .docker/Dockerfile

@@ -1,5 +1,8 @@
 ARG SCANCONTROL_SDK_VERSION=1.0.0
 
+################################################################################
+# Build .deb packages for Aravis and scanCONTROL SDK
+################################################################################
 FROM ubuntu:22.04 AS build
 
 ARG SCANCONTROL_SDK_VERSION
@@ -67,12 +70,16 @@ RUN mkdir /library_pkgs && \
     mv "/scanCONTROL-Linux-SDK/libmescan/builddir/mescan_${SCANCONTROL_SDK_VERSION}-1_amd64.deb" /library_pkgs && \
     mv "/scanCONTROL-Linux-SDK/libllt/builddir/llt_${SCANCONTROL_SDK_VERSION}-1_amd64.deb" /library_pkgs
 
-FROM ros:humble-ros-core
+################################################################################
+# ros-core and Aravis + scanCONTROL SDK
+#   for use with CI
+################################################################################
+FROM ros:humble-ros-core AS scancontrol-core
 ARG SCANCONTROL_SDK_VERSION
 
 RUN apt-get update && apt-get install -y --no-install-recommends\
-    build-essential \
-    pkg-config \
+      build-essential \
+      pkg-config \
     && rm -rf /var/lib/apt/lists/*
 
 COPY --from=build ["/library_pkgs", "/library_pkgs"]
@@ -83,3 +90,17 @@ RUN apt-get update && \
     apt install /library_pkgs/llt_${SCANCONTROL_SDK_VERSION}-1_amd64.deb \
     && rm -rf /var/lib/apt/lists/*
 
+################################################################################
+# ros-base + Aravis + scanCONTROL SDK + RViz2
+#   for use as a base image in development or deployment
+################################################################################
+FROM scancontrol-core AS scancontrol-base
+
+ARG DEBIAN_FRONTEND=noninteractive
+
+# Install the base release + rviz2
+RUN apt-get update && apt-get install -y --no-install-recommends \
+      ros-humble-ros-base \
+      ros-humble-rviz2 \
+      ros-humble-rviz-default-plugins \
+    && rm -rf /var/lib/apt/lists/*

.docker/docker-compose.yml

@@ -6,7 +6,7 @@ services:
     container_name: scancontrol-container
     build:
       context: .
-      dockerfile: Dockerfile.dev
+      dockerfile: Dockerfile
     user: ros
     working_dir: /home/ros/workspace
     # command: >

README.md

@@ -137,6 +137,31 @@ The following parameters are available to allow using multiple scanCONTROL devic
 
 Encapsulates the same driver class as the scancontrol_driver_node, but instead allows for zero-copy data transfer. The Topics, services and paremeters are the same as described for the scancontrol_driver_node above. 
 
+## Docker Images
+
+This repository provides a `Dockerfile` (in the `.docker` folder) with multiple stages for images with Aravis and the scanCONTROL SDK installed.
+
+### scancontrol-core
+Extends: `[ros-humble-ros-core]`
+
+- Installed Aravis.
+- Installed scanCONTROL SDK.
+
+```bash
+cd .docker
+docker build . --target scancontrol-core -t scancontrol:humble-ros-core
+```
+
+### scancontrol-base
+Extends: `[scancontrol-core]`
+
+- Installed `ros-humble-ros-base`
+- Installed `rviz2`. 
+
+```bash
+cd .docker
+docker build . --target scancontrol-base -t scancontrol:humble-ros-base
+```
 
 ## Bugs & Feature Requests