initial forking commit

.docker/Dockerfile

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+FROM osrf/ros:humble-desktop
+
+ARG DEBIAN_FRONTEND=noninteractive
+
+ARG USER_UID=1001
+ARG USER_GID=1001
+ARG USERNAME=user
+
+WORKDIR /workspaces
+
+RUN groupadd --gid $USER_GID $USERNAME \
+    && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \
+    && mkdir -p -m 0700 /run/user/"${USER_UID}" \
+    && mkdir -p -m 0700 /run/user/"${USER_UID}"/gdm \
+    && chown user:user /run/user/"${USER_UID}" \
+    && chown user:user /workspaces \
+    && chown user:user /run/user/"${USER_UID}"/gdm 
+
+RUN apt-get update && \
+    DEBIAN_FRONTEND=noninteractive apt-get install -y --no-install-recommends \
+    ros-humble-xacro \
+    ros-humble-joint-state-publisher-gui \
+    && rm -rf /var/lib/apt/lists/*
+
+ENV XDG_RUNTIME_DIR=/run/user/"${USER_UID}"
+
+USER $USERNAME
+
+RUN echo "source /ros_entrypoint.sh" >>~/.bashrc
+ARG MAX_ROS_DOMAIN_ID=232
+RUN echo "export ROS_DOMAIN_ID=100" >>~/.bashrc
+RUN echo "set +e" >>~/.bashrc