Adding Dockerfile for drake-ros dev env

Dockerfile

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+# Dockerfile for drake-ros
+
+ARG ARCH
+FROM ${ARCH}ros:humble-ros-base-jammy
+
+# Set shell for running commands
+SHELL ["/bin/bash", "-c"]
+
+# Install ROS2 packages
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    ros-humble-desktop=0.10.0-1* \
+    && rm -rf /var/lib/apt/lists/*
+
+# Update and upgrade the system
+RUN apt-get update && \
+    apt-get upgrade -y && \
+    apt-get install -y tzdata
+
+# Install necessary dependencies for the script
+RUN apt-get install -y wget unzip curl software-properties-common lsb-release python3-pip
+
+# Install Bazelisk using npm as it's straightforward this way
+RUN apt-get install -y npm
+RUN npm install -g @bazel/bazelisk
+
+# Run Bazelisk to install Bazel
+RUN bazelisk
+
+# Install some useful tools for development
+RUN apt-get update --fix-missing && \
+    apt-get install -y git \
+                       nano \
+                       vim \
+                       libeigen3-dev \
+                       tmux \
+		               zip
+
+RUN apt-get -y dist-upgrade
+
+ARG BUILD_DRAKE_FROM_SOURCE=false
+RUN if [ "$BUILD_DRAKE_FROM_SOURCE" = "true" ] ; then \
+        # Install build dependencies for Drake \
+        apt-get install -y build-essential cmake && \
+        # Clone Drake source code \
+        git clone https://github.com/RobotLocomotion/drake.git && \
+        yes | bash drake/setup/ubuntu/install_prereqs.sh && \
+        mkdir drake-build && \
+        cd drake-build && \
+        # Build Drake from source \
+        cmake -DCMAKE_INSTALL_PREFIX=$HOME/drake ../drake && make -j$(nproc) \
+        ; \
+    else \
+        # Download and install Drake dependencies \
+        wget -q -O /tmp/drake-setup.zip https://github.com/RobotLocomotion/drake/archive/refs/heads/master.zip && \
+    	unzip -q /tmp/drake-setup.zip -d /tmp && \
+    	yes | bash /tmp/drake-master/setup/ubuntu/install_prereqs.sh && \
+    	rm -rf /tmp/drake-setup.zip /tmp/drake-master && \
+        # Download and install pre-built Drake binary for Ubuntu \
+        wget https://drake-packages.csail.mit.edu/drake/nightly/drake-latest-jammy.tar.gz && \
+        tar -xzf drake-latest-jammy.tar.gz --strip-components=1 -C /opt && \
+        rm drake-latest-jammy.tar.gz ; \
+    fi
+
+# Clone Drake ROS repository
+RUN git clone https://github.com/RobotLocomotion/drake-ros.git
+RUN cd drake-ros
+
+# ROS2 workspace setup
+RUN mkdir -p drake_ros_ws/src/drake_ros
+COPY . /drake_ros_ws/src/drake_ros
+
+RUN source /opt/ros/humble/setup.bash && \
+    cd drake_ros_ws/ && \
+    apt-get update --fix-missing && \
+    rosdep install -i --from-path src --rosdistro humble -y && \
+    if [ "$BUILD_DRAKE_FROM_SOURCE" = "true" ] ; then \
+        colcon build --symlink-install --cmake-args -DCMAKE_PREFIX_PATH=$HOME/drake \
+        ; \
+    else \
+        colcon build --symlink-install ; \
+    fi && \
+    colcon test --packages-up-to drake_ros_examples --event-handlers console_cohesion+ && \
+    colcon test-result --verbose
+
+WORKDIR '/drake_ros_ws'
+# Set the entrypoint to source ROS setup.bash and run a bash shell
+ENTRYPOINT ["/bin/bash"]