Add dockerfile

.copier/answers.dockerbuild.yml

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+# Changes here will be overwritten by Copier; NEVER EDIT MANUALLY
+_commit: v1.1.2
+_src_path: https://git.spirirobotics.com/Spiri/template-dockerbuild.git
+platforms: linux/amd64,linux/arm64

.github/workflows/build-docker.yaml

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+
+name: Create and publish a Docker image
+
+on:
+  push:
+
+# Defines two custom environment variables for the workflow. These are used for the Container registry domain, and a name for the Docker image that this workflow builds.
+env:
+  REGISTRY: git.spirirobotics.com
+  IMAGE_NAME: ${{ github.repository }}
+
+# There is a single job in this workflow. It's configured to run on the latest available version of Ubuntu.
+jobs:
+  build-and-push-image:
+    runs-on: ubuntu-latest
+    container: ghcr.io/catthehacker/ubuntu:act-latest
+
+    # Sets the permissions granted to the `GITHUB_TOKEN` for the actions in this job.
+    permissions:
+      contents: read
+      packages: write
+      # 
+    steps:
+      #- name: install docker
+      #  run: apt install moby-cli -y    
+      - name: Checkout repository
+        uses: actions/checkout@v4
+        with:
+          lfs: true
+          submodules: true
+      # Uses the `docker/login-action` action to log in to the Container registry registry using the account and password that will publish the packages. Once published, the packages are scoped to the account defined here.
+      - name: Log in to the Container registry
+        uses: docker/login-action@65b78e6e13532edd9afa3aa52ac7964289d1a9c1
+        with:
+          registry: ${{ env.REGISTRY }}
+          username: ${{ github.actor }}
+          password: ${{ secrets.WORKFLOW_REGISTRY_TOKEN }}
+      # This step uses [docker/metadata-action](https://github.com/docker/metadata-action#about) to extract tags and labels that will be applied to the specified image. The `id` "meta" allows the output of this step to be referenced in a subsequent step. The `images` value provides the base name for the tags and labels.
+      - name: Extract metadata (tags, labels) for Docker
+        id: meta
+        uses: docker/metadata-action@9ec57ed1fcdbf14dcef7dfbe97b2010124a938b7
+        with:
+          images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
+
+      # - name: Set up QEMU
+      #   uses: docker/setup-qemu-action@v2
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+
+      # This step uses the `docker/build-push-action` action to build the image, based on your repository's `Dockerfile`. If the build succeeds, it pushes the image to GitHub Packages.
+      # It uses the `context` parameter to define the build's context as the set of files located in the specified path. For more information, see "[Usage](https://github.com/docker/build-push-action#usage)" in the README of the `docker/build-push-action` repository.
+      # It uses the `tags` and `labels` parameters to tag and label the image with the output from the "meta" step.
+      - name: Build Docker image
+        uses: docker/build-push-action@v5
+        env:
+          #Hack for gitea/github weirdness.
+          ACTIONS_RUNTIME_TOKEN: ''
+        with:
+          context: .
+
+          platforms: linux/amd64,linux/arm64
+
+          push: true
+          tags: ${{ steps.meta.outputs.tags }}
+          labels: ${{ steps.meta.outputs.labels }}
+
+

Dockerfile

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+FROM osrf/ros:kinetic-desktop-full
+
+RUN apt-get update && apt-get install -y \
+    git \
+    vim \
+    build-essential \
+    ros-kinetic-mavros \
+    ros-kinetic-mavros-extras \
+    ros-kinetic-mavros-msgs \
+    ros-kinetic-catkin
+
+WORKDIR /root/catkin_ws/
+COPY xbeemav/ ./src/xbeemav
+
+RUN /bin/bash -c "source /opt/ros/kinetic/setup.bash && catkin_make -DSIM=0 -DKIN=1"
+RUN /bin/bash -c "source /opt/ros/kinetic/setup.bash && catkin_make install"
+
+ENV ROS_DISTRO kinetic
+ENV CATKIN_SETUP_FILE devel/setup.bash
+
+RUN apt-get clean
+COPY ./ros_entrypoint.sh /ros_entrypoint.sh
+
+HEALTHCHECK --interval=5s --timeout=5s --retries=3 CMD /ros_entrypoint.sh rostopic list