Add easier entrypoint for curiosity_demo

related to space-ros/space-ros#178

 - Add dockerfile for demo
 - Add makefile for build, run and clean automation

curiosity_rover/Dockerfile

@@ -0,0 +1,23 @@
+FROM osrf/space-ros:core
+
+ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+
+# Install dependencies
+RUN sudo apt update && sudo apt install -y ros-${ROS_DISTRO}-control-msgs \
+    ros-${ROS_DISTRO}-rmw-cyclonedds-cpp
+
+# Prepare the workspace
+SHELL ["bash", "-c"]
+RUN mkdir -p ${HOME}/curiosity_ws/src
+WORKDIR ${HOME}/curiosity_ws
+
+COPY ./curiosity_rover_demo src/curiosity_rover_demo
+COPY .defaults.yaml .defaults.yaml
+
+# Build the workspace
+RUN source /opt/ros/${ROS_DISTRO}/setup.bash \
+    && source /opt/spaceros/setup.bash \
+    && colcon build --symlink-install
+
+# Source the workspace
+RUN echo "source ${HOME}/curiosity_ws/install/setup.bash" >> ${HOME}/.bashrc

curiosity_rover/Makefile

@@ -0,0 +1,60 @@
+# Define variables
+DOCKER_IMAGE = osrf/space-ros:curiosity_demo
+WORKSPACE = ${HOME}/curiosity_ws
+LOCAL_WORKSPACE = $(shell pwd)
+SHELL := /bin/bash
+XTERM_CONFIG = -bg black -fg white -fa 'Monospace' -fs 11
+
+# Help target to describe each target
+.PHONY: help
+help:
+	@echo "Curiosity Rover Makefile"
+	@echo "  make build          - Build the Docker image and the Gazebo workspace locally"
+	@echo "  make build-docker   - Build the Docker image"
+	@echo "  make build-gazebo   - Build the Gazebo workspace locally"
+	@echo "  make run-gazebo     - Run the Curiosity Gazebo simulation locally"
+	@echo "  make run-demo       - Run the Curiosity demo within Docker"
+	@echo "  make clean          - Clean the local workspace"
+	@echo "  make all            - Build and run everything"
+
+# Build all
+.PHONY: build
+build: build-docker build-gazebo
+
+# Build the Docker image
+.PHONY: build-docker
+build-docker:
+	docker build -t $(DOCKER_IMAGE) .
+
+# Run the Curiosity Gazebo simulation locally
+.PHONY: run-gazebo
+run-gazebo:
+	xterm $(XTERM_CONFIG) -T 'Curiosity Gazebo' -e 'source /opt/ros/${ROS_DISTRO}/setup.bash \
+		&& source $(LOCAL_WORKSPACE)/install/setup.bash \
+		&& ros2 launch curiosity_gazebo curiosity_gazebo.launch.py' &
+
+# Build the Gazebo workspace locally
+.PHONY: build-gazebo
+build-gazebo:
+	@source /opt/ros/${ROS_DISTRO}/setup.bash && \
+	rosdep install --from-paths curiosity_gazebo --ignore-src -r -y && \
+	rosdep install --from-paths curiosity_description --ignore-src -r -y && \
+	colcon build --symlink-install --base-paths $(LOCAL_WORKSPACE) --install-base $(LOCAL_WORKSPACE)/install \
+        --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \
+        --packages-select curiosity_description curiosity_gazebo
+
+# Run the Curiosity demo within Docker
+.PHONY: run-docker
+run-docker:
+	xterm $(XTERM_CONFIG) -T 'Curiosity Demo' -e "docker run -it --rm \
+		-e RMW_IMPLEMENTATION=rmw_cyclonedds_cpp \
+		$(DOCKER_IMAGE) \
+		bash -c 'source ~/.bashrc && ros2 launch curiosity_rover_demo mars_rover.launch.py'" &
+
+.PHONY: clean
+clean:
+	rm -rf $(LOCAL_WORKSPACE)/install $(LOCAL_WORKSPACE)/log $(LOCAL_WORKSPACE)/build
+
+# Build and run everything
+.PHONY: run
+run: build run-gazebo run-docker