Add docker-compose.yml and entrypoint.sh with CycloneDDS middleware

Co-authored-by: marc-hanheide <1153084+marc-hanheide@users.noreply.github.com>

Author: Copilot

.devcontainer/Dockerfile

@@ -40,10 +40,29 @@ ARG GIT_REPO_VERSION_DATE="unknown"
 ENV GIT_REPO_VERSION=${GIT_REPO_VERSION}
 ENV GIT_REPO_VERSION_DATE=${GIT_REPO_VERSION_DATE}
 
-RUN mkdir -p /root/workspace/src
-COPY . /root/workspace/src/repository
-WORKDIR /root/workspace/
+# Install CycloneDDS ROS middleware implementation
+RUN apt-get update \
+    && apt-get install -qq -y --no-install-recommends \
+    ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
+    && rm -rf /var/lib/apt/lists/*
+
+# Use CycloneDDS as the default ROS Middleware
+ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+
+# Path to the colcon workspace inside the container
+ENV WORKSPACE_DIR=/root/workspace
+
+RUN mkdir -p ${WORKSPACE_DIR}/src
+COPY . ${WORKSPACE_DIR}/src/repository
+WORKDIR ${WORKSPACE_DIR}
 RUN rosdep update --rosdistro ${ROS_DISTRO} && apt-get update \
     && rosdep install --from-paths ./src --ignore-src -r -y \
-    && bash -c "source /opt/ros/${ROS_DISTRO}/setup.sh; colcon build"
+    && bash -c "source /opt/ros/${ROS_DISTRO}/setup.sh; colcon build" \
+    && rm -rf /var/lib/apt/lists/*
+
+COPY entrypoint.sh /entrypoint.sh
+RUN chmod +x /entrypoint.sh
+
+ENTRYPOINT ["/entrypoint.sh"]
+CMD ["ros2", "launch", "rosbag_blackbox", "rosbag_blackbox.launch.py"]
 

docker-compose.yml

@@ -0,0 +1,30 @@
+services:
+  # Service name matches the ROS package; image name mirrors the GitHub repository name
+  rosbag_blackbox:
+    image: ghcr.io/jabasai/rosbag_ringbuffer:latest
+    build:
+      context: .
+      dockerfile: .devcontainer/Dockerfile
+      target: final
+      args:
+        BASE_IMAGE: ros:humble
+    environment:
+      # Use CycloneDDS as the ROS Middleware
+      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+    # Host networking is required so that DDS multicast-based node discovery
+    # works transparently between the container and other ROS 2 nodes on the
+    # same machine or LAN. Be aware that this removes Docker's network
+    # isolation: all host ports are accessible from inside the container.
+    network_mode: host
+    volumes:
+      # Mount a local config file (override the bundled example_config.yaml)
+      - ./src/rosbag_blackbox/config/example_config.yaml:/config/config.yaml:ro
+      # Persist snapshots to the host
+      - ./bags:/bags
+    command:
+      - ros2
+      - launch
+      - rosbag_blackbox
+      - rosbag_blackbox.launch.py
+      - snapshot_dir:=/bags
+      - config_file:=/config/config.yaml

entrypoint.sh

@@ -0,0 +1,15 @@
+#!/bin/bash
+set -e
+
+# Source ROS 2 base environment
+# shellcheck disable=SC1091
+source /opt/ros/${ROS_DISTRO}/setup.bash
+
+# Source the built colcon workspace if it exists
+WORKSPACE_DIR=${WORKSPACE_DIR:-/root/workspace}
+if [ -f "${WORKSPACE_DIR}/install/setup.bash" ]; then
+    # shellcheck disable=SC1091
+    source "${WORKSPACE_DIR}/install/setup.bash"
+fi
+
+exec "$@"