Add Dockerfile and helper scripts to simplify installation and build

.gitignore

@@ -0,0 +1 @@
+__pycache__

README.md

@@ -13,6 +13,25 @@ for details on exporting models.
 This repo also serves as an example of how to implement a custom controller using the
 [legged_control2](https://qiayuanl.github.io/legged_control2_doc/) framework.
 
+## Install and Build (docker)
+The Dockerfile and helper scripts are provided to simplify installation and build.
+Make sure [Docker](https://docs.docker.com/engine/install/ubuntu/) and the [NVIDIA Container Toolkit](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html) are installed first.
+```bash
+# Host
+git clone https://github.com/HybridRobotics/motion_tracking_controller.git
+cd motion_tracking_controller/docker
+docker compose up -d --build
+docker exec -it wbt_ws bash
+```
+
+```bash
+# container
+cd /wbt_ws/src/motion_tracking_controller
+./scripts/colcon-config.sh Release
+```
+This script automatically clones and builds the required dependencies.
+See [Basic Usage](#basic-usage) for usage instructions.
+
 ## Installation
 
 ### Dependencies
@@ -140,4 +159,3 @@ Below is an overview of the code structure for this repository:
     - Includes launch files like `mujoco.launch.py` and `real.launch.py` for simulation and real robot execution.
 - **`config`**
     - Stores configuration files for standby controller and state estimation params.
-

docker/Dockerfile

@@ -0,0 +1,78 @@
+# Ubuntu 24.04 image based on ROS Jazzy (supports both x86_64 and arm64)
+FROM ros:jazzy-perception-noble
+
+ENV ROS_DISTRO=jazzy
+
+# Disable interactive prompts during apt install
+ENV DEBIAN_FRONTEND=noninteractive
+
+RUN apt-get update && \
+    # APT / certificates / repository management / GPG keys
+    # (apt-transport-https is usually unnecessary on Ubuntu 22.04)
+    apt-get install -y --no-install-recommends \
+      ca-certificates gnupg lsb-release software-properties-common && \
+    \
+    # Networking and troubleshooting tools
+    apt-get install -y --no-install-recommends \
+      iputils-ping iproute2 wget curl net-tools && \
+    \
+    # Build / debug / code management tools
+    apt-get install -y --no-install-recommends \
+      build-essential cmake gdb git git-lfs vim python3-vcstool && \
+    \
+    # Common C++ math and utility libraries
+    apt-get install -y --no-install-recommends \
+      libboost-all-dev libeigen3-dev libyaml-cpp-dev && \
+    \
+    # JSON processing / code formatting / miscellaneous utilities
+    apt-get install -y --no-install-recommends \
+      jq clang-format unzip ncdu && \
+    \
+    # GUI support (kept since GUI is required; gnome-terminal is large but convenient)
+    apt-get install -y --no-install-recommends \
+      dbus-x11 gnome-terminal && \
+    \
+    # Hardware / USB / joystick support
+    apt-get install -y --no-install-recommends \
+      udev usbutils joystick && \
+    \
+    # Python toolchain (pip)
+    apt-get install -y --no-install-recommends \
+      python3-pip && \
+    \
+    git lfs install
+
+
+    # ROS dependencies
+RUN apt-get install -y --no-install-recommends \
+        ros-jazzy-plotjuggler-ros ros-jazzy-pinocchio
+
+    # Install additional dependencies
+    # unitree_sdk2
+RUN apt-get install -y --no-install-recommends \
+        libspdlog-dev libfmt-dev && \
+    \
+    # unitree_ros2
+    apt-get install -y --no-install-recommends \
+        ros-jazzy-rmw-cyclonedds-cpp ros-jazzy-rosidl-generator-dds-idl && \
+    \
+    # unitree_mujoco
+    apt-get install -y --no-install-recommends \
+        libglfw3-dev
+
+    # Add apt source
+RUN echo "deb [trusted=yes] https://github.com/qiayuanl/legged_buildfarm/raw/noble-jazzy-amd64/ ./" | sudo tee /etc/apt/sources.list.d/qiayuanl_legged_buildfarm.list && \
+    echo "yaml https://github.com/qiayuanl/legged_buildfarm/raw/noble-jazzy-amd64/local.yaml jazzy" | sudo tee /etc/ros/rosdep/sources.list.d/1-qiayuanl_legged_buildfarm.list  && \
+    echo "deb [trusted=yes] https://github.com/qiayuanl/unitree_buildfarm/raw/noble-jazzy-amd64/ ./" | sudo tee /etc/apt/sources.list.d/qiayuanl_unitree_buildfarm.list && \
+    echo "yaml https://github.com/qiayuanl/unitree_buildfarm/raw/noble-jazzy-amd64/local.yaml jazzy" | sudo tee /etc/ros/rosdep/sources.list.d/1-qiayuanl_unitree_buildfarm.list && \
+    echo "deb [trusted=yes] https://github.com/qiayuanl/simulation_buildfarm/raw/noble-jazzy-amd64/ ./" | sudo tee /etc/apt/sources.list.d/qiayuanl_simulation_buildfarm.list && \
+    echo "yaml https://github.com/qiayuanl/simulation_buildfarm/raw/noble-jazzy-amd64/local.yaml jazzy" | sudo tee /etc/ros/rosdep/sources.list.d/1-qiayuanl_simulation_buildfarm.list && \
+    sudo apt-get update && \
+    sudo apt-get install -y --no-install-recommends \
+        ros-jazzy-legged-control-base ros-jazzy-mujoco-ros2-control ros-jazzy-unitree-description ros-jazzy-unitree-systems
+
+# Copy workspace setup script into the container
+COPY workspace-config.sh /workspace-config.sh
+
+# Use workspace-config.sh as the container entrypoint
+ENTRYPOINT ["/workspace-config.sh"]

docker/docker-compose.yaml

@@ -0,0 +1,47 @@
+name: wbt_ws
+
+services:
+  wbt_ws:
+    build:
+      context: .                # Build context (current directory)
+      dockerfile: Dockerfile    # Defaults to Dockerfile, can be omitted
+    image: wbt_ws:latest    # Image name
+    container_name: wbt_ws
+
+    privileged: true
+    security_opt:
+      - seccomp=unconfined
+
+    # GPU support (modern Compose)
+    gpus: all
+    # runtime: nvidia # (for jetson)
+
+    # Environment variables
+    environment:
+      - NVIDIA_VISIBLE_DEVICES=all
+      - NVIDIA_DRIVER_CAPABILITIES=all
+      - DISPLAY=${DISPLAY:-:0}
+      # Use a fixed path inside container
+      - XAUTHORITY=/root/.Xauthority
+      # - XDG_RUNTIME_DIR=${XDG_RUNTIME_DIR}
+      - QT_X11_NO_MITSHM=1
+      - WORKSPACE=/wbt_ws
+
+    # Volume mounts
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix:rw
+      # Mount host Xauthority file into container
+      - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority:rw
+      - /etc/localtime:/etc/localtime:ro
+      - /dev/input:/dev/input:rwm
+      - /run/udev:/run/udev:ro
+      - ../:/wbt_ws/src/motion_tracking_controller
+
+
+    # Network configuration
+    network_mode: host
+    ipc: host
+
+    # Interactive mode (equivalent to -it)
+    stdin_open: true
+    tty: true

docker/workspace-config.sh

@@ -0,0 +1,15 @@
+#!/bin/bash
+
+############################################
+# Add /usr/local/lib to the default library search path
+echo "/usr/local/lib" | sudo tee /etc/ld.so.conf.d/local-lib.conf
+ldconfig
+
+############################################
+# Set up / install GDB Eigen pretty printers
+cp $WORKSPACE/scripts/.gdbinit /root
+cp $WORKSPACE/scripts/.gdb_eigen /root
+
+cd $WORKSPACE
+
+exec bash

scripts/colcon-config.sh

@@ -0,0 +1,27 @@
+#!/bin/bash
+
+# Default build type is Release
+BUILD_TYPE="${1:-Release}"
+
+echo "Building with CMAKE_BUILD_TYPE=$BUILD_TYPE"
+
+# Get project root directory
+PROJECT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )"/../../../
+echo "Project directory: $PROJECT_DIR"
+mkdir -p $PROJECT_DIR/lib
+mkdir -p $PROJECT_DIR/src
+
+# Clone repos
+cd $PROJECT_DIR/src
+git clone https://github.com/qiayuanl/unitree_bringup.git
+
+# Build
+cd $PROJECT_DIR
+rosdep install --from-paths src --ignore-src -r -y
+
+source /opt/ros/jazzy/setup.bash
+colcon build --symlink-install \
+    --packages-up-to unitree_bringup motion_tracking_controller \
+    --cmake-args \
+    -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \
+    -DCMAKE_BUILD_TYPE=$BUILD_TYPE