feat: Add ROS 2 Humble Dockerfile

[Tiryoh]

We need --security-opt seccomp=unconfined flag to launch the docker container for now.

Adding --security-opt seccomp=unconfined flag while launching docker container solved the problem on Docker version 20.10.17 + Ubuntu 20.04.

If anyone came across the same problem, a workaround is to run the container with the flag --security-opt seccomp=unconfined.
There are security implications, more details here.

linuxserver/docker-digikam#22 (comment)

The problem is caused by a seccomp policy and a glibc >= 2.34 update (moby/moby#42681 (comment)) that returns an EPERM (operation not permitted) insted of ENOSYS (function not implemented).

https://gist.github.com/nathabonfim59/b088db8752673e1e7acace8806390242

Originally posted by @Tiryoh in Tiryoh/docker-ubuntu-vnc-desktop#1 (comment)

[Tiryoh]

Pushed the pre-built docker image to the Docker Hub.

https://hub.docker.com/layers/ros2-desktop-vnc/tiryoh/ros2-desktop-vnc/humble-amd64-20220725T0223/images/sha256-77d0f5ce36d46ddd6683aa0ce1da237513903bbf5cc185f2b1906d94a5730076?context=explore

docker run --rm -it -p 6080:80 --shm-size=512m --security-opt seccomp=unconfined tiryoh/ros2-desktop-vnc:humble-amd64-20220725T0223

[grassjelly]

I can confirm this works on amd64. Run:

docker run --rm -it -p 6080:80 --shm-size=512m --security-opt seccomp=unconfined tiryoh/ros2-desktop-vnc:humble-amd64-20220725T0223 to replicate.

[Tiryoh]

 > [linux/arm64 4/5] RUN apt-get update -q &&     apt-get install -y curl gnupg2 lsb-release &&     curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg &&     echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null &&     apt-get update -q &&     apt-get install -y ros-humble-desktop     python3-argcomplete     python3-colcon-common-extensions     python3-rosdep python3-vcstool     ros-humble-gazebo-ros-pkgs &&     rosdep init &&     rm -rf /var/lib/apt/lists/*:
#13 32.77 Get:1 http://packages.ros.org/ros2/ubuntu jammy InRelease [4670 B]
#13 33.02 Hit:2 http://ports.ubuntu.com/ubuntu-ports jammy InRelease
#13 33.02 Hit:3 http://ports.ubuntu.com/ubuntu-ports jammy-updates InRelease
#13 33.10 Hit:4 http://ports.ubuntu.com/ubuntu-ports jammy-backports InRelease
#13 33.23 Hit:5 http://ports.ubuntu.com/ubuntu-ports jammy-security InRelease
#13 34.81 Get:6 http://packages.ros.org/ros2/ubuntu jammy/main arm64 Packages [639 kB]
#13 49.92 Reading package lists...
#13 55.27 Building dependency tree...
#13 56.11 Reading state information...
#13 56.90 E: Unable to locate package ros-humble-gazebo-ros-pkgs

https://github.com/Tiryoh/docker-ros2-desktop-vnc/runs/7532194561?check_suite_focus=true

http://repo.ros2.org/status_page/humble_default.html?q=RED

ros-humble-gazebo-ros-pkgs and other simulation packages are not ready for arm64