From 299ef31b3f0b4c9331aa763b859524585dd7f7c6 Mon Sep 17 00:00:00 2001
From: "William L. Thomson Jr." <w@wltjr.com>
Date: Tue, 5 Nov 2024 18:58:21 -0400
Subject: [PATCH] Dockerfile: Download, build, & install ros2_laser_scan_merger
 & dependencies

---
 Dockerfile | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/Dockerfile b/Dockerfile
index 1e39594..9569800 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -5,6 +5,7 @@ RUN apt-get update && apt-get upgrade -y --no-install-recommends
 
 # install ros2 packages
 RUN apt-get update && apt-get install -y --no-install-recommends \
+	libpcl-dev \
 	libusb-1.0-0-dev \
 	python3-colcon-devtools \
 	python3-colcon-package-selection \
@@ -17,6 +18,7 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
 	ros-jazzy-joint-state-publisher \
 	ros-jazzy-joy-linux \
 	ros-jazzy-joy-teleop \
+	ros-jazzy-pcl-conversions \
 	ros-jazzy-pointcloud-to-laserscan \
 	ros-jazzy-robot-state-publisher \
 	ros-jazzy-ros2-controllers \
@@ -25,6 +27,7 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
 	ros-jazzy-slam-toolbox \
 	ros-jazzy-teleop-twist-keyboard \
 	ros-jazzy-xacro \
+	unzip \
 	&& rm -rf /var/lib/apt/lists/*
 
 # ros 2 env
@@ -35,6 +38,15 @@ RUN echo "[[ -d /opt/ros_ws/install ]] && source /opt/ros_ws/install/setup.sh" \
 # ros 2 workspace
 RUN mkdir -p /opt/ros_ws/src
 
+# ros2_laser_scan_merger
+RUN cd /opt/ros_ws/src && \
+	wget https://github.com/mich1342/ros2_laser_scan_merger/archive/refs/heads/main.zip && \
+	unzip main.zip && rm main.zip && \
+	mv ros2_laser_scan_merger-main ros2_laser_scan_merger && \
+	cd ../ && \
+	. /opt/ros/jazzy/setup.sh && \
+	colcon build --symlink-install --packages-select ros2_laser_scan_merger
+
 # common commands added to history
 RUN echo "ros2 run teleop_twist_keyboard teleop_twist_keyboard" \
         >> /root/.bash_history