Added docker files

docker/Dockerfile

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+ARG TAG
+FROM ghcr.io/tesseract-robotics/tesseract_qt_deploy:${TAG}
+
+SHELL ["/bin/bash", "-c"]
+
+ENV DEBIAN_FRONTEND noninteractive
+
+USER root
+
+# Install ROS
+ARG ROS_DISTRO
+RUN apt install -y \
+  ros-${ROS_DISTRO}-ros-base \
+  ros-${ROS_DISTRO}-ament-cmake \
+  ros-${ROS_DISTRO}-ros2launch \
+  ros-${ROS_DISTRO}-launch-ros \
+  ros-${ROS_DISTRO}-launch-xml \
+  ros-${ROS_DISTRO}-launch-yaml
+
+# Bind mount the source directory so as not to unnecessarily copy source code into the docker image
+ARG WORKSPACE_DIR=/opt/tesseract_ros2
+RUN --mount=type=bind,target=${WORKSPACE_DIR}/src/tesseract_ros2 \
+  source /opt/ros/${ROS_DISTRO}/setup.bash \
+  && source /opt/tesseract_qt/install/setup.bash \
+  && rosdep update --include-eol-distros \
+  && rosdep install \
+    --from-paths ${WORKSPACE_DIR}/src \
+    -iry
+
+# Build the repository
+# Bind mount the source directory so as not to unnecessarily copy source code into the docker image
+RUN --mount=type=bind,target=${WORKSPACE_DIR}/src/tesseract_ros2 \
+  source /opt/tesseract_qt/install/setup.bash \
+  && source /opt/ros/${ROS_DISTRO}/setup.bash \
+  && cd ${WORKSPACE_DIR} \ 
+  && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release \
+  && rm -rf build log

docker/README.md

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+# Tesseract Planning Docker
+
+## Create the Docker image
+### Download
+Download a pre-built Docker image for this bridge from the container registry:
+
+```
+docker login ghcr.io
+docker pull ghcr.io/tesseract-robotics/tesseract_planning_deploy:<tag>
+```
+
+### Build
+Build the Docker image using `docker-compose`:
+
+```commandLine
+cd docker
+docker compose build
+```
+
+## Run the docker image
+Run the Docker image using `docker-compose`:
+
+```commandLine
+cd docker
+CURRENT_UID=$(id -u):$(id -g) docker compose up
+```
+
+> Note: by default the docker image runs as a non-root user, so the environment variable `CURRENT_UID` must be supplied as shown above

docker/docker-compose.yml

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+version: '3'
+services:
+  tesseract:
+    build:
+      context: ..
+      dockerfile: docker/Dockerfile
+      args:
+        - TAG=focal-0.20
+        - ROS_DISTRO=foxy
+    environment:
+      DISPLAY: $DISPLAY
+      XAUTHORITY: $XAUTHORITY
+      NVIDIA_DRIVER_CAPABILITIES: all
+      ROS_LOG_DIR: /tmp
+    container_name: tesseract_ros2
+    image: ghcr.io/tesseract-robotics/tesseract_ros2_deploy:foxy-0.20
+    stdin_open: true
+    tty: true
+    network_mode: host
+    user: ${CURRENT_UID}  # CURRENT_UID=$(id -u):$(id -g)
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix
+      - /etc/hosts:/etc/hosts
+    deploy:
+      resources:
+        reservations:
+          devices:
+            - driver: nvidia
+              count: 1
+              capabilities: [gpu]