proper isolated version and dev container

[marc-hanheide]

What type of PR is this? (check all applicable)

• [X] Refactor
• [X] Feature
• [ ] Bug Fix
• [ ] Optimization
• [ ] Documentation Update

Description

This PR contains a number of fixed to make CAR more portable. Mainly a docker-compose based devcontainer, and a docker-compose file that can start an entire system, with nginx as the reverse front end proxy. The developments in https://github.com/LCAS/bayesian_topological_localisation/pull/7 made clear that first CAR needs to be properly isolated, and containerised, which this work is trying to achieve. Afterwards https://github.com/LCAS/bayesian_topological_localisation/pull/7 can be more streamlined.

Related Tickets & Documents

• Related PR https://github.com/LCAS/bayesian_topological_localisation/pull/7

QA Instructions, Screenshots, Recordings

Try cloning this repository with this PR and try huilding the dev container.

[marc-hanheide]

@Iranaphor @nikolauswagner @amieo-ra , this is just to keep you up to date on the developments.

I finally made a much better "isolated" version of CAR, that can be more easily deployed via docker-compose and has a proper dev container. This is kind of a requisite for the work on the actual picker localiser etc. I'll merge myself when ready, but wanted to let you know.

[marc-hanheide]

Added also automatic build of the docker container, so both CAR and the forwarders now will be available from our registry, once this is merged.