From 6b201ff66907e7ec9f3a7615ee9648a5f8b597d9 Mon Sep 17 00:00:00 2001
From: HanielUlises <hanielulises2003@gmail.com>
Date: Mon, 28 Sep 2026 10:31:06 -0600
Subject: [PATCH] Run the two-site survey from a Docker image

---
 .dockerignore        |  5 +++++
 Dockerfile           | 49 ++++++++++++++++++++++++++++++++++++++++++++
 README.md            | 14 +++++++++++++
 docker/entrypoint.sh |  6 ++++++
 4 files changed, 74 insertions(+)
 create mode 100644 .dockerignore
 create mode 100644 Dockerfile
 create mode 100755 docker/entrypoint.sh

diff --git a/.dockerignore b/.dockerignore
new file mode 100644
index 00000000..0ff4a523
--- /dev/null
+++ b/.dockerignore
@@ -0,0 +1,5 @@
+.git
+log
+build
+install
+**/__pycache__
diff --git a/Dockerfile b/Dockerfile
new file mode 100644
index 00000000..4a8872d7
--- /dev/null
+++ b/Dockerfile
@@ -0,0 +1,49 @@
+# eplansys on ROS 2 Humble, with the two-site survey as its default command.
+#
+#   docker build -t eplansys .
+#   docker run --rm eplansys
+#   docker run --rm eplansys ros2 launch eplansys_demo survey_sites_launch.py north:=clean parallel:=true
+#
+# The planner (del-planner) and the grounder (plank) are built from the commits
+# dependency_repos.repos pins, so the image plans exactly as the release does.
+
+FROM ros:humble
+
+SHELL ["/bin/bash", "-c"]
+ENV DEBIAN_FRONTEND=noninteractive
+
+# libfl-dev is popf's and libboost-filesystem-dev is plank's; neither project
+# has a rosdep key that would bring them in.
+RUN apt-get update && apt-get install -y --no-install-recommends \
+      libfl-dev libboost-filesystem-dev python3-vcstool ros-humble-behaviortree-cpp \
+    && rm -rf /var/lib/apt/lists/*
+
+# behaviortree_cpp 4.9.1 installs its library under lib/x86_64-linux-gnu while
+# its exported CMake check looks in lib/ alone; see epistemic-humble.yaml.
+RUN if [ -f /opt/ros/humble/lib/x86_64-linux-gnu/libbehaviortree_cpp.so ] && \
+       [ ! -e /opt/ros/humble/lib/libbehaviortree_cpp.so ]; then \
+      ln -s x86_64-linux-gnu/libbehaviortree_cpp.so /opt/ros/humble/lib/libbehaviortree_cpp.so; \
+    fi
+
+WORKDIR /eplansys_ws
+
+# Dependencies first, so that a change to eplansys does not fetch them again.
+COPY dependency_repos.repos /tmp/dependency_repos.repos
+RUN mkdir -p src && vcs import src < /tmp/dependency_repos.repos
+
+COPY . src/eplansys
+
+RUN apt-get update && rosdep update --rosdistro humble \
+    && rosdep install --from-paths src --ignore-src -y --rosdistro humble --skip-keys plank \
+    && rm -rf /var/lib/apt/lists/*
+
+# plank is named because nothing declares a build dependency on it: the
+# grounder runs it as a subprocess and finds it on PATH.
+RUN source /opt/ros/humble/setup.bash \
+    && colcon build --packages-up-to eplansys_demo plank \
+         --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF \
+    && rm -rf build log
+
+COPY docker/entrypoint.sh /entrypoint.sh
+ENTRYPOINT ["/entrypoint.sh"]
+CMD ["ros2", "launch", "eplansys_demo", "survey_sites_launch.py"]
diff --git a/README.md b/README.md
index 3461a77a..f3fa1f74 100644
--- a/README.md
+++ b/README.md
@@ -31,6 +31,20 @@ into the Kripke model the planner searches over is done by
 Alessandro Burigana and Francesco Fabiano, which `plansys2_epddl_grounder`
 builds and runs for you.
 
+## Trying it
+
+The image builds the workspace on ROS 2 Humble, with the planner and the
+grounder at the commits this release pins, and runs the two-site survey: two
+scouts, two sites, and a policy that branches on what each one finds.
+
+```bash
+docker build -t eplansys .
+docker run --rm eplansys
+docker run --rm eplansys ros2 launch eplansys_demo survey_sites_launch.py north:=clean parallel:=true
+```
+
+The mission prints its elapsed time and exits when the goal holds.
+
 We want to invite you to contribute to this Open Source project!
 
 **Documentation: [eplansys.github.io/eplansys](https://eplansys.github.io/eplansys)**
diff --git a/docker/entrypoint.sh b/docker/entrypoint.sh
new file mode 100755
index 00000000..39baec13
--- /dev/null
+++ b/docker/entrypoint.sh
@@ -0,0 +1,6 @@
+#!/bin/bash
+# Source the distribution and the workspace, then run what was asked.
+set -e
+source /opt/ros/humble/setup.bash
+source /eplansys_ws/install/setup.bash
+exec "$@"