Import example code and basic prototype

Dockerfile

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+ARG ROS_DISTRO=galactic
+FROM ros:${ROS_DISTRO}-ros-base
+
+### Use bash by default
+SHELL ["/bin/bash", "-c"]
+
+### Define working directory
+ARG WS_DIR=/root/ws
+ENV WS_DIR=${WS_DIR}
+ENV WS_SRC_DIR=${WS_DIR}/src
+ENV WS_INSTALL_DIR=${WS_DIR}/install
+ENV WS_LOG_DIR=${WS_DIR}/log
+WORKDIR ${WS_DIR}
+
+### Install Gazebo
+ARG IGNITION_VERSION=fortress
+ENV IGNITION_VERSION=${IGNITION_VERSION}
+RUN apt-get update && \
+    apt-get install -yq --no-install-recommends \
+    ignition-${IGNITION_VERSION} && \
+    rm -rf /var/lib/apt/lists/*
+
+### Import and install dependencies, then build these dependencies (not ign_moveit2_examples yet)
+COPY ./ign_moveit2_examples.repos ${WS_SRC_DIR}/ign_moveit2_examples/ign_moveit2_examples.repos
+RUN vcs import --shallow ${WS_SRC_DIR} < ${WS_SRC_DIR}/ign_moveit2_examples/ign_moveit2_examples.repos && \
+    rosdep update && \
+    apt-get update && \
+    rosdep install -y -r -i --rosdistro "${ROS_DISTRO}" --from-paths ${WS_SRC_DIR} && \
+    rm -rf /var/lib/apt/lists/* && \
+    source "/opt/ros/${ROS_DISTRO}/setup.bash" && \
+    colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release" && \
+    rm -rf ${WS_LOG_DIR}
+
+### Copy over the rest of ign_moveit2_examples, then install dependencies and build
+COPY ./ ${WS_SRC_DIR}/ign_moveit2_examples/
+RUN rosdep update && \
+    apt-get update && \
+    rosdep install -y -r -i --rosdistro "${ROS_DISTRO}" --from-paths ${WS_SRC_DIR} && \
+    rm -rf /var/lib/apt/lists/* && \
+    source "/opt/ros/${ROS_DISTRO}/setup.bash" && \
+    colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release" && \
+    rm -rf ${WS_LOG_DIR}
+
+### Add workspace to the ROS entrypoint
+### Source ROS workspace inside `~/.bashrc` to enable autocompletion
+RUN sed -i '$i source "${WS_INSTALL_DIR}/local_setup.bash" --' /ros_entrypoint.sh && \
+    sed -i '$a source "/opt/ros/${ROS_DISTRO}/setup.bash"' ~/.bashrc