NASA_Challenge_[@xfiderek] Add dockerfile to build ros_trick_bridge (s…

…pace-ros#42).

The dockerfile builds trick, ros_trick_bridge and canadarm simulation.

ros_trick/ros_trick_bridge.Dockerfile

@@ -0,0 +1,112 @@
+# Copyright 2024 Blazej Fiderek (xfiderek)
+# 
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+# 
+#     https://www.apache.org/licenses/LICENSE-2.0
+# 
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+# Tested with humble-2024.07.0 release
+FROM osrf/space-ros:latest
+
+# ------------------------------------------------------------------------------
+# Get Install trick dependencies
+# ------------------------------------------------------------------------------
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \ 
+  sudo apt-get update && sudo apt-get install -y \
+  bison \
+  clang \
+  flex \
+  git \
+  llvm \
+  make \
+  maven \
+  swig \
+  cmake \
+  curl \
+  g++ \
+  libx11-dev \
+  libxml2-dev \
+  libxt-dev \
+  libmotif-common \
+  libmotif-dev \
+  python3-dev \
+  zlib1g-dev \
+  llvm-dev \
+  libclang-dev \
+  libudunits2-dev \
+  libgtest-dev \
+  openjdk-11-jdk \
+  zip
+
+ENV PYTHON_VERSION=3
+
+# ------------------------------------------------------------------------------
+# Get Trick version 19.7.2 from GitHub, configure and build it.
+# ------------------------------------------------------------------------------
+WORKDIR /opt/trick
+RUN git clone --branch 19.7.2 --depth 1 https://github.com/nasa/trick.git .
+# cd into the directory we just created and ..
+# configure and make Trick.
+RUN ./configure && make
+
+# ------------------------------------------------------------------------------
+# Add ${TRICK_HOME}/bin to the PATH variable.
+# ------------------------------------------------------------------------------
+ENV TRICK_HOME="/opt/trick"
+RUN echo "export PATH=${PATH}:${TRICK_HOME}/bin" >> ~/.bashrc
+
+
+# ------------------------------------------------------------------------------
+# Build SPACEROS workspace with ros trick bridge
+# ------------------------------------------------------------------------------
+WORKDIR /opt/ros_trick_bridge_ws
+ENV ROS_TRICK_BRIDGE_WS="/opt/ros_trick_bridge_ws/"
+COPY --chown=spaceros-user:spaceros-user ros_src/ros_trick_bridge src/
+RUN /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash \
+  && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON --event-handlers desktop_notification- status-'
+RUN rm -rf build log src
+
+# ------------------------------------------------------------------------------
+# ------------------------------------------------------------------------------
+# Parts below are only required for the canadarm demo. You can replace them as you see fit.
+# ------------------------------------------------------------------------------
+# ------------------------------------------------------------------------------
+
+# ------------------------------------------------------------------------------
+# Install RBDL, which is used for calculating forward dynamics in trick
+# ------------------------------------------------------------------------------
+WORKDIR /opt/rbdl
+RUN git clone --branch v3.3.0 --depth 1 https://github.com/rbdl/rbdl.git . \
+  && git submodule update --init --remote --depth 1 addons/urdfreader/
+RUN   mkdir ./rbdl-build \ 
+  && cd rbdl-build/ \
+  && cmake \
+  -DCMAKE_BUILD_TYPE=Release \ 
+  -DRBDL_BUILD_ADDON_URDFREADER="ON" \ 
+  .. \
+  && make \
+  && sudo make install \
+  && cd .. \
+  && rm -r ./rbdl-build
+# make it easy to link the rbdl library.
+# LD_LIBRARY_PATH is empty at this stage of dockerbuild
+ENV LD_LIBRARY_PATH="/usr/local/lib"
+
+# ------------------------------------------------------------------------------
+# copy the created canadarm trick simulation and compile it
+# ------------------------------------------------------------------------------
+WORKDIR /opt/trick_sims/SIM_trick_canadarm
+COPY --chown=spaceros-user:spaceros-user trick_src/SIM_trick_canadarm/ .
+RUN ${TRICK_HOME}/bin/trick-CP
+# include canadarm URDF for RBDL
+COPY --chown=spaceros-user:spaceros-user ros_src/trick_canadarm_moveit_config/config/SSRMS_Canadarm2.urdf.xacro .
+
+WORKDIR ${ROS_TRICK_BRIDGE_WS}