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Dockerfile

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+# Use ROS 2 Humble Hawksbill base image
+FROM osrf/ros:humble-desktop-full
+
+# Update and install dependencies
+RUN apt-get update && apt-get install -y \
+    python3-colcon-common-extensions \
+    && rm -rf /var/lib/apt/lists/*
+
+COPY requirements.txt ./
+RUN pip install --no-cache-dir -r requirements.txt
+
+# Create a workspace
+WORKDIR /ros2_ws
+
+# Copy your ROS 2 package into the workspace
+COPY ./src /ros2_ws/src
+
+# Build your package
+RUN . /opt/ros/humble/setup.sh && \
+    colcon build
+
+RUN echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
+
+
+# Source the workspace
+CMD ["/bin/bash"]

docker-compose.yaml

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+version: '3.8'
+services:
+  ros2:
+    build: ..
+    volumes:
+      - ./src:/ros2_ws/src
+    networks:
+      - ros_network
+    tty: true
+    stdin_open: true
+
+networks:
+  ros_network:
+    driver: bridge

requirements.txt

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+numpy==1.26.4