Add Docker Support to open_manipulator

[Woojin-Crive]

Description

This pull request merges the support-docker branch into the main branch, introducing Docker support to the open_manipulator project. The changes in this branch aim to simplify the setup process and streamline the development environment through containerization.

Summary of Changes

• Dockerfile and docker-compose configuration file Added:
  A new Dockerfile is provided to build a containerized environment for open_manipulator. This ensures that users can quickly and consistently set up the required build environment.

Motivation

Many users and contributors have expressed interest in a containerized setup that can simplify dependency management and environment configuration. By integrating Docker support, we reduce setup time and increase the reproducibility of builds and tests. This change helps new contributors get started quickly and makes the project more accessible.

Testing & Validation

• Local Testing:
  The Docker container was built and run locally, and all essential functionalities were verified within the containerized environment.

Request for Review

Please review the changes and provide any feedback or suggestions. Your input is welcome to ensure that this new workflow integrates smoothly with our ongoing development process.

[sunghowoo]

The EOF is misplaced in the file. It should be at the very end.

[Woojin-Crive]

EOF is now placed at the end of the files.

[sunghowoo]

LGTM

[sunghowoo]

@Woojin-Crive We were considering support for Docker this year, so thanks for writing it in advance!

[Woojin-Crive]

Usage Examples for Docker Support

• Allow Local Docker Access to the X Server:
  To enable GUI applications to connect from within the Docker container, run:

  xhost +local:docker
  

• Starting the Container:
  Run the following command to start the container in detached mode:

  docker compose up -d
  

  This command will build (if necessary) and start all defined services in the background.

• Accessing the Container Shell:
  Once the container is running, you can open a bash shell within the service (assuming the service name is ros2):

  docker compose exec ros2 bash
  

  This allows you to interact directly with the container’s environment.

• Stopping and Removing Containers:
  To stop and remove the running containers when you’re done, use:

  docker compose down
  

  This will stop the services and clean up the associated resources.

• Viewing Container Logs (Optional):
  For debugging or monitoring, you can stream the logs with:

  docker compose logs -f
  

These examples should help users get started quickly with the containerized environment provided by the Docker support.
Since the repository README does not currently include instructions for running the package, I am adding this comment as a note to be incorporated into the e-manual in the future. Using a containerized environment can help prevent the classic "it works on my machine" issue.