added docker support

Author: hsd-dev

README.md

@@ -15,10 +15,28 @@ pip3 install roslibpy
 https://pypi.python.org/pypi/service_identity
 ```
 
+## Building docker image
+```bash
+sudo docker build -t rosgraph_monitor:0.1 .
+sudo docker run -it rosgraph_monitor:0.1
+//once inside the image
+roscore
+```
+In a new terminal
+```bash
+sudo docker ps -l
+// check for NAMES
+sudo docker exec -it NAME bash
+//once inside the image
+source /graph_ws/devel/setup.bash
+rosrun rosgraph_monitor monitor
+```
+
+
 ## Running the system  
 ```
 roslaunch rosbridge_server rosbridge_websocket.launch
 roslaunch rosgraph_monitor demo.launch
 python3 src/rosgraph_monitor/nav_model.py
 rosservice call /load_observer "name: 'NavObserver'"
-```
+```

docker/Dockerfile

@@ -0,0 +1,16 @@
+FROM osrf/ros:melodic-desktop-bionic
+
+RUN apt-get update \
+    && apt-get install -y git \
+                          python-catkin-tools                           
+
+RUN mkdir -p /graph_ws/src 
+WORKDIR /graph_ws/src
+RUN git clone --depth=1 -b nav_observer https://github.com/ipa-hsd/rosgraph_monitor/
+RUN git clone --depth=1 -b SoSymPaper https://github.com/ipa-nhg/ros_graph_parser
+
+WORKDIR /graph_ws/
+RUN rosdep install --from-paths src --ignore-src -r -y
+RUN . /opt/ros/melodic/local_setup.sh \
+    && catkin build \
+    && . devel/local_setup.sh

docker/ros_entrypoint.sh

@@ -0,0 +1,6 @@
+#!/usr/bin/env bash
+set -e
+
+# setup ros environment
+source "graph_ws/devel/setup.bash"
+exec "$@"