feat: Dockerfile

.dockerignore

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+*
+!config
+!include
+!launch
+!src
+!CMakeLists.txt
+!package.xml

Dockerfile

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+FROM ros:foxy as builder
+LABEL org.opencontainers.image.authors="Jan-Hendrik Ewers <me@janhendrikewers.uk>"
+LABEL org.opencontainers.image.version="1.0.0"
+LABEL org.opencontainers.image.documentation="https://github.com/ros-drivers/mocap_optitrack"
+LABEL org.opencontainers.image.description="Run mocap_optitrack using ros2 foxy"
+
+# Copy the source code
+WORKDIR /ws/src/mocap_optitrack
+COPY . .
+
+# Build mocap_optitrack
+WORKDIR /ws/
+RUN /ros_entrypoint.sh bash -c \
+        "rosdep update && rosdep install --from-paths src --ignore-src -y && colcon build"
+
+FROM ros:foxy as runner
+
+# No need to keep the source code within the image
+COPY --from=builder /ws/install /ws/install
+
+# Update /ros_entrypoint.sh to source /ws/install/setup.bash
+RUN echo '#!/bin/bash\nset -e\nsource "/opt/ros/$ROS_DISTRO/setup.bash" --\nsource "/ws/install/setup.bash" --\nexec "$@"\n' > /ros_entrypoint.sh
+
+WORKDIR /ws
+
+# Launch mocap_optitrack with:
+#   docker build . -t mocap_optitrack:foxy && docker run --rm -it mocap_optitrack:foxy ros2 launch mocap_optitrack mocap.launch.py