add docker and make file

Dockerfile

@@ -0,0 +1,48 @@
+# Use the official ROS Melodic base image
+FROM osrf/ros:melodic-desktop-full
+
+# Set the working directory
+WORKDIR /workspace
+
+# Install additional dependencies if needed
+# For example, you can uncomment the line below to install a package
+# Install additional dependencies
+RUN apt-get update \
+    && apt-get -y --quiet --no-install-recommends install \
+    gcc \
+    git \
+    libxml2-dev \
+    libxslt-dev \
+    python \
+    python-pip\
+    libarmadillo-dev\
+    wget
+
+# Download, extract, and build nlopt
+RUN git clone -b v2.7.1 https://github.com/stevengj/nlopt.git && \
+    cd nlopt && \
+    mkdir build && \
+    cd build && \
+    cmake .. && \
+    make && \
+    make install && \
+    ldconfig
+
+
+# Download, extract, and build LKH
+RUN wget http://akira.ruc.dk/~keld/research/LKH-3/LKH-3.0.6.tgz && \
+    tar xvfz LKH-3.0.6.tgz && \
+    cd LKH-3.0.6 && \
+    make && \
+    cp LKH /usr/local/bin && \
+    cd .. && \
+    rm -rf LKH-3.0.6 LKH-3.0.6.tgz
+
+COPY . /workspace/src/
+
+WORKDIR /workspace
+
+RUN . /opt/ros/melodic/setup.sh && catkin_make
+
+# Set entry point to start ROS
+CMD ["bash"]

Makefile

@@ -0,0 +1,9 @@
+# Build docker project
+.PHONY : docker_build
+docker_build:
+	docker build -t racer .
+
+# Run docker project
+.PHONY : docker_run
+docker_run:
+	docker run -it --network host   --env="DISPLAY" --env="QT_X11_NO_MITSHM=1" --device=/dev/video0:/dev/video0 --mount type=bind,source=$(CURDIR),target=/workspace/src --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" --entrypoint /bin/bash racer

README.md

@@ -107,7 +107,45 @@ By default you can see a pillar-like environment. Trigger the quadrotor to start
   <img src="files/racer3.gif" width = "600" height = "325"/>
  </p>
 
+## Docker Setup
 
+If your operating system doesn't support ROS melodic, docker is a great alternative.
+
+First of all, you have to build the project and create an  image like so:
+
+```bash
+## Assuimg you are in the correct project directory
+docker build -t racer .
+```
+To use a shortcut, you may use the following command:
+
+```bash
+## Assuimg you are in the correct project directory
+make docker_build
+```
+
+After the image is created, copy and paste the following command to the terminal to run the image:
+
+```bash
+## Assuimg you are in the correct project directory
+docker run -it --net=host --ipc=host --privileged --env="DISPLAY"  --env="QT_X11_NO_MITSHM=1" --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" --volume="${XAUTHORITY}:/root/.Xauthority"  --entrypoint /bin/bash racer
+```
+To use a shortcut, you may use following command:
+
+```bash
+make docker_run
+```
+## Running the package at docker image
+
+If you are in the docker image , this project is already sourced and the default launch file can be run as the following command;
+
+```bash
+source devel/setup.bash && roslaunch exploration_manager rviz.launch
+```
+then run the simulation (run in a new terminals): 
+```bash
+source devel/setup.bash && roslaunch exploration_manager swarm_exploration.launch
+```
 ## Exploring Different Environments
 
 The exploration environments in our simulator are represented by [.pcd files](https://pointclouds.org/documentation/tutorials/pcd_file_format.html).