build Image

Run sh build.sh

This image takes around one hour to build.

If you don't need it, you can comment the ros2-desktop-dev install

Once you build this image, you don't need to re-build it every time you want to lunch a container.

run docker container

Run sh run.sh

how to have another terminal in the same docker container

Run docker ps

And then docker exec -it [CONTAINER_ID] bash with the id of your container.