Docker Ros2 Development

If you're containerizing ROS2 workspaces, this walks you through multi-stage Dockerfiles that separate dev, build, and runtime concerns, plus docker-compose patterns for multi-container robot stacks. The real value is in the DDS networking troubleshooting (CycloneDDS and FastDDS discovery across containers), GPU passthrough setup for perception nodes, and X11 forwarding for rviz2. It covers the full OSRF image hierarchy so you're not pulling 3GB desktop-full images for production deployments when ros-core would do. Also handles USB device passthrough for cameras and serial hardware, which is always messier than it should be. Good reference if you're moving from bare-metal ROS2 development to containers or setting up CI/CD with colcon builds.