docker-ros2-development

# Docker-Based ROS2 Development Skill ## When to Use This Skill - Writing Dockerfiles for ROS2 workspaces with colcon builds - Setting up docker-compose for multi-container robotic systems - Debugging DDS discovery failures between containers (CycloneDDS, FastDDS) - Configuring GPU passthrough with NVIDIA Container Toolkit for perception nodes - Forwarding X11 or Wayland displays for rviz2 and rqt tools - Managing USB device passthrough for cameras, LiDARs, and serial devices - Building CI/CD pipelines with Docker-based ROS2 builds and test runners - Creating devcontainer configurations for VS Code with ROS2 extensions - Optimizing Docker layer caching for colcon workspace builds - Designing dev-vs-deploy container strategies with multi-stage builds ## ROS2 Docker Image Hierarchy Official OSRF images follow a layered hierarchy. Always choose the smallest base that satisfies dependencies. ``` ┌──────────────────────────────────────────────────────────────────┐ │ ros:<distro>-desktop-full (~3.5 GB) │ │ ┌────────────────────────────────────────────────────────────┐ │ │ │ ros:<distro>-desktop (~2.8 GB) │ │ │ │ ┌──────────────────────────────────────────────────────┐ │ │ │ │ │ ros:<distro>-perception (~2.2 GB) │ │ │ │ │ │ ┌────────────────────────────────────────────────┐ │ │ │ │ │ │ │ ros:<distro>-ros-base (~1.1 GB) │ │ │ │ │ │ │ │ ┌──────────────────────...