fixed the image issue, added the following packages : nav2, joy, slam_toolbox, added : jstest-gtk, added : display passthrough for (workso on linux), input passthough for devies into the container (gamepads can be used in the container now)

Author: muhtasim001

docker/robot/robot.Dockerfile

@@ -5,6 +5,9 @@ FROM ${BASE_IMAGE} AS source
 
 WORKDIR ${AMENT_WS}/src
 
+RUN apt-get update && apt-get install -y curl \
+ && curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+
 # Clean up and update apt-get, then update rosdep
 RUN sudo apt-get clean && \
     sudo apt-get update && \
@@ -16,6 +19,10 @@ RUN sudo apt-get clean && \
 COPY src/robot .
 
 # Scan for rosdeps
+
+RUN apt-get update && apt-get install -y curl \
+ && curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+
 RUN apt-get -qq update && rosdep update && \
     rosdep install --from-paths . --ignore-src -r -s \
         | grep 'apt-get install' \
@@ -26,6 +33,10 @@ RUN apt-get -qq update && rosdep update && \
 FROM ${BASE_IMAGE} AS dependencies
 
 # Clean up and update apt-get, then update rosdep
+
+RUN apt-get update && apt-get install -y curl \
+ && curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+
 RUN sudo apt-get clean && \
     sudo apt-get update && \
     sudo rosdep update
@@ -50,6 +61,10 @@ RUN apt-get -qq autoremove -y && apt-get -qq autoclean && apt-get -qq clean && \
 FROM dependencies AS build
 
 # Clean up and update apt-get, then update rosdep
+
+RUN apt-get update && apt-get install -y curl \
+ && curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+
 RUN sudo apt-get clean && \
     sudo apt-get update && \
     sudo rosdep update
@@ -63,6 +78,18 @@ RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
 # Source and Build Artifact Cleanup 
 # RUN rm -rf src/* build/* devel/* install/* log/*
 
+#add the slam toolbox, localizaiton and rviz2
+RUN sudo apt-get update
+RUN sudo apt-get install -y ros-humble-rviz2
+RUN sudo apt-get install -y ros-humble-navigation2
+RUN sudo apt-get install -y ros-humble-slam-toolbox
+
+#add controler support to the container
+RUN sudo apt-get install -y ros-humble-joy 
+RUN sudo apt-get install -y jstest-gtk
+RUN mkdir -p /root/.config/jstest-gtk
+
+
 # Entrypoint will run before any CMD on launch. Sources ~/opt/<ROS_DISTRO>/setup.bash and ~/ament_ws/install/setup.bash
 COPY docker/wato_ros_entrypoint.sh ${AMENT_WS}/wato_ros_entrypoint.sh
 ENTRYPOINT ["./wato_ros_entrypoint.sh"]

docker/samples/cpp_aggregator.Dockerfile

@@ -9,6 +9,9 @@ WORKDIR ${AMENT_WS}/src
 COPY src/samples/cpp/aggregator aggregator
 COPY src/wato_msgs/sample_msgs sample_msgs
 
+RUN apt-get update && apt-get install -y curl \
+ && curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+
 # Scan for rosdeps
 RUN apt-get -qq update && rosdep update && \
     rosdep install --from-paths . --ignore-src -r -s \

docker/samples/cpp_producer.Dockerfile

@@ -9,6 +9,9 @@ WORKDIR ${AMENT_WS}/src
 COPY src/samples/cpp/producer producer
 COPY src/wato_msgs/sample_msgs sample_msgs
 
+RUN apt-get update && apt-get install -y curl \
+ && curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+
 # Scan for rosdeps
 RUN apt-get -qq update && rosdep update && \
     rosdep install --from-paths . --ignore-src -r -s \

docker/samples/cpp_transformer.Dockerfile

@@ -9,6 +9,9 @@ WORKDIR ${AMENT_WS}/src
 COPY src/samples/cpp/transformer transformer
 COPY src/wato_msgs/sample_msgs sample_msgs
 
+RUN apt-get update && apt-get install -y curl \
+ && curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+
 # Scan for rosdeps
 RUN apt-get -qq update && rosdep update && \
     rosdep install --from-paths . --ignore-src -r -s \

docker/samples/py_aggregator.Dockerfile

@@ -9,6 +9,9 @@ WORKDIR ${AMENT_WS}/src
 COPY src/samples/python/aggregator aggregator
 COPY src/wato_msgs/sample_msgs sample_msgs
 
+RUN apt-get update && apt-get install -y curl \
+ && curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+
 # Scan for rosdeps
 RUN apt-get -qq update && rosdep update && \
     rosdep install --from-paths . --ignore-src -r -s \

docker/samples/py_producer.Dockerfile

@@ -9,6 +9,9 @@ WORKDIR ${AMENT_WS}/src
 COPY src/samples/python/producer producer
 COPY src/wato_msgs/sample_msgs sample_msgs
 
+RUN apt-get update && apt-get install -y curl \
+ && curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+
 # Scan for rosdeps
 RUN apt-get -qq update && rosdep update && \
     rosdep install --from-paths . --ignore-src -r -s \

docker/samples/py_transformer.Dockerfile

@@ -9,6 +9,9 @@ WORKDIR ${AMENT_WS}/src
 COPY src/samples/python/transformer transformer
 COPY src/wato_msgs/sample_msgs sample_msgs
 
+RUN apt-get update && apt-get install -y curl \
+ && curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+
 # Scan for rosdeps
 RUN apt-get -qq update && rosdep update && \
     rosdep install --from-paths . --ignore-src -r -s \

docker/sim/sim.Dockerfile

@@ -24,6 +24,9 @@ FROM ros:foxy
 
 SHELL ["/bin/bash", "-c"]
 
+RUN apt-get update && apt-get install -y curl \
+ && curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+
 # dependencies
 RUN apt-get update --fix-missing && \
     apt-get install -y git \

docker/vis_tools/foxglove.Dockerfile

@@ -1,5 +1,7 @@
 ARG BASE_IMAGE=ghcr.io/watonomous/robot_base/base:humble-ubuntu22.04
 
+#ARG BASE_IMAGE=osrf/ros:humble-desktop-ful
+
 ################################ Source ################################
 FROM ${BASE_IMAGE} AS source
 
@@ -8,6 +10,9 @@ WORKDIR ${AMENT_WS}/src
 # Copy in source code 
 COPY src/wato_msgs wato_msgs
 
+RUN apt-get update && apt-get install -y curl \
+ && curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+
 # Scan for rosdeps
 RUN apt-get -qq update && rosdep update && \
     rosdep install --from-paths . --ignore-src -r -s \
@@ -18,6 +23,9 @@ RUN apt-get -qq update && rosdep update && \
 ################################# Dependencies ################################
 FROM ${BASE_IMAGE} AS dependencies
 
+RUN apt-get update && apt-get install -y curl \
+ && curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+
 # Install Foxglove Deps
 RUN apt-get update && apt-get install -y curl ros-humble-ros2bag ros-humble-rosbag2* ros-humble-foxglove-msgs&& \
     rm -rf /var/lib/apt/lists/*
@@ -61,4 +69,4 @@ RUN rm -rf src/* build/* devel/* install/* log/*
 
 # Entrypoint will run before any CMD on launch. Sources ~/opt/<ROS_DISTRO>/setup.bash and ~/ament_ws/install/setup.bash
 COPY docker/wato_ros_entrypoint.sh ${AMENT_WS}/wato_ros_entrypoint.sh
-ENTRYPOINT ["./wato_ros_entrypoint.sh"]
+ENTRYPOINT ["./wato_ros_entrypoint.sh"]

modules/docker-compose.robot.yaml

@@ -21,3 +21,9 @@ services:
       - develop
     volumes:
       - ${MONO_DIR}/src:/home/bolty/ament_ws/src
+      - /tmp/.X11-unix:/tmp/.X11-unix
+      - /dev/input:/dev/input
+    environment:
+      - DISPLAY=${DISPLAY}
+    device_cgroup_rules:
+      - 'c 13:* rmw'