we ARE going to use Docker with Spot

Dockerfile.noetic

@@ -0,0 +1,47 @@
+# This image allows you to have a Ubuntu 20.04 + ROS Noetic setup.
+# You can mount the path to the 'robotdev' repository in your host
+# machine to the same path in the container. We ask you to use the
+# same username in the container as in your host machine. This
+# simplifies the maintenance of the 'robotdev' repository.
+# This setup relies on the nice ros:noetic image provided
+# on Docker Hub.
+# /author: Kaiyu Zheng
+FROM ros:noetic
+
+# Install software
+RUN apt-get update
+RUN apt-get install -y --no-install-recommends apt-utils
+RUN apt-get install -y emacs
+RUN apt-get install -y sudo
+RUN apt-get install -y python-pip
+RUN apt-get install -y net-tools
+RUN apt-get install -y iputils-ping
+RUN apt-get install -y gdb
+RUN apt-get install -y mlocate
+RUN apt-get install -y openssh-client openssh-server
+RUN apt-get install -y ros-noetic-desktop-full
+RUN apt-get install -y ros-noetic-rviz-imu-plugin
+
+
+# create a user
+ARG hostuser=kaiyu
+
+RUN adduser --disabled-password --gecos '' $hostuser
+RUN adduser $hostuser sudo
+# Ensure sudo group users are not asked for a p3assword when using sudo command
+# by ammending sudoers file
+RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> \
+/etc/sudoers
+
+USER $hostuser
+WORKDIR /home/$hostuser
+ENV HOME=/home/$hostuser
+RUN mkdir $HOME/repo
+
+# Different shell color
+RUN echo "export PS1='\e[33;1m\u@\h:\e[31m\w\e[0m\$ '" >> $HOME/.bashrc
+
+# print some info on start
+RUN echo "echo -e 'Welcome! You are now in a docker container ().'" >> $HOME/.bashrc
+RUN echo "echo -e \"Docker ID: $(basename $(cat /proc/1/cpuset))\"" >> $HOME/.bashrc
+CMD ["bash"]

docker/build.noetic.sh

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+# Make sure we are in the right directory.
+# the rest of the script assumes we are in robotdev/docker
+if [[ $PWD = *robotdev ]]; then
+    cd docker
+elif [[ ! $PWD = *robotdev/docker ]]; then
+    echo -e "You must be in either 'robotdev' or the 'robotdev/docker' directory to run this command."
+    return 1
+fi
+
+# load tools
+. "../tools.sh"
+
+# parse args
+hostuser=$USER  # the user inside the container
+nvidia=""
+for arg in "$@"
+do
+    if parse_var_arg arg; then
+        if [[ $var_name = "hostuser" ]]; then
+            hostuser=$var_value
+        else
+            echo -e "Unrecognized argument variable: ${var_name}"
+        fi
+    elif is_flag arg; then
+        # we are not there yet (with nvidia)
+        # if [[ $arg = "--nvidia" ]]; then
+        #     nvidia=".nvidia"
+        # fi
+        echo "unhandled arg: $arg"
+    fi
+done
+
+# Build the docker image.  The `--rm` option is for you to more conveniently
+# rebuild the image.
+cd $PWD/../  # get to the root of the repository
+docker build -f Dockerfile.noetic${nvidia}\
+       -t robotdev:noetic\
+       --build-arg hostuser=$hostuser\
+       --rm\
+       .
+# Explain the options above:
+# -t: tag

spot/README.md

@@ -1,11 +1,22 @@
 # Spot
 
-Activate spot workspace:
+# Activate spot workspace:
 ```
 # at robotdev root directory:
 $ source setup_spot.bash
 ```
 
+
+## Build
+
+Similar to MOVO, we use Docker for Spot too (but we are using
+Ubuntu 20.04 with ROS noetic). First, build the docker image:
+```
+source docker/build.noetic.sh
+```
+TODO FINISH THIS
+
+
 To build spot, don't run `catkin_make`. Instead,
 after sourcing `setup_spot.bash`, run: