Add placeholder filer for example Dockerfile with nvidia drivers

Dockerfile-nvidia

@@ -0,0 +1,123 @@
+# Docker image for extending MoveIt Pro with a custom overlay.
+#
+# Example build command (with defaults):
+#
+# docker build -f ./Dockerfile .
+#
+
+# Specify the MoveIt Pro release to build on top of.
+ARG MOVEIT_STUDIO_BASE_IMAGE
+ARG USERNAME=studio-user
+ARG USER_UID=1000
+ARG USER_GID=1000
+
+##################################################
+# Starting from the specified MoveIt Pro release #
+##################################################
+# The image tag is specified in the argument itself.
+# hadolint ignore=DL3006
+FROM ${MOVEIT_STUDIO_BASE_IMAGE} AS base
+
+# Create a non-root user
+ARG USERNAME
+ARG USER_UID
+ARG USER_GID
+
+# Copy source code from the workspace's ROS 2 packages to a workspace inside the container
+ARG USER_WS=/home/${USERNAME}/user_ws
+ENV USER_WS=${USER_WS}
+RUN mkdir -p ${USER_WS}/src ${USER_WS}/build ${USER_WS}/install ${USER_WS}/log
+COPY ./src ${USER_WS}/src
+
+# Also mkdir with user permission directories which will be mounted later to avoid docker creating them as root
+WORKDIR $USER_WS
+# hadolint ignore=DL3008
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \
+    groupadd --gid $USER_GID ${USERNAME} && \
+    useradd --uid $USER_UID --gid $USER_GID --shell /bin/bash --create-home ${USERNAME} && \
+    apt-get update && \
+    apt-get install -q -y --no-install-recommends sudo && \
+    echo ${USERNAME} ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/${USERNAME} && \
+    chmod 0440 /etc/sudoers.d/${USERNAME} && \
+    cp -r /etc/skel/. /home/${USERNAME} && \
+    mkdir -p \
+      /home/${USERNAME}/.ccache \
+      /home/${USERNAME}/.config \
+      /home/${USERNAME}/.ignition \
+      /home/${USERNAME}/.colcon \
+      /home/${USERNAME}/.ros && \
+    chown -R $USER_UID:$USER_GID /home/${USERNAME} /opt/overlay_ws/
+
+# Install Nvidia drivers for improved simulator performance.
+# 'nvidia-driver-555' MUST be replaced with the Nvidia driver version on your host, e.g. nvidia-driver-535, nvidia-driver-555.
+# Use nvidia-smi on your host to determine the driver version.
+ENV DEBIAN_FRONTEND=noninteractive
+RUN apt update && apt install -y software-properties-common
+RUN add-apt-repository ppa:graphics-drivers/ppa && apt update && apt upgrade -y && apt install -y nvidia-driver-555
+
+# Install additional dependencies
+# You can also add any necessary apt-get install, pip install, etc. commands at this point.
+# NOTE: The /opt/overlay_ws folder contains MoveIt Pro binary packages and the source file.
+# hadolint ignore=SC1091
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \
+    . /opt/overlay_ws/install/setup.sh && \
+    apt-get update && \
+    rosdep install -q -y \
+      --from-paths src \
+      --ignore-src
+
+# Set up colcon defaults for the new user
+USER ${USERNAME}
+RUN colcon mixin add default \
+    https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml && \
+    colcon mixin update && \
+    colcon metadata add default \
+    https://raw.githubusercontent.com/colcon/colcon-metadata-repository/master/index.yaml && \
+    colcon metadata update
+COPY colcon-defaults.yaml /home/${USERNAME}/.colcon/defaults.yaml
+
+# hadolint ignore=DL3002
+USER root
+
+###################################################################
+# Target for the developer build which does not compile any code. #
+###################################################################
+FROM base AS user-overlay-dev
+
+ARG USERNAME
+ARG USER_WS=/home/${USERNAME}/user_ws
+ENV USER_WS=${USER_WS}
+
+# Install any additional packages for development work
+# hadolint ignore=DL3008
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \
+    apt-get update && \
+    apt-get install -y --no-install-recommends \
+        less \
+        gdb \
+        nano
+
+# Set up the user's .bashrc file and shell.
+CMD ["/usr/bin/bash"]
+
+#########################################
+# Target for compiled, deployable image #
+#########################################
+FROM base AS user-overlay
+
+ARG USERNAME
+ARG USER_WS=/home/${USERNAME}/user_ws
+ENV USER_WS=${USER_WS}
+
+# Compile the workspace
+WORKDIR $USER_WS
+# hadolint ignore=SC1091
+RUN --mount=type=cache,target=/home/${USERNAME}/.ccache \
+    . /opt/overlay_ws/install/setup.sh && \
+    colcon build
+
+# Set up the user's .bashrc file and shell.
+CMD ["/usr/bin/bash"]