Support Docker development environment

[kenji-miyake]

To provide an easy-to-develop environment, we should support Docker.

The base of Dockerfile is introduced here.
https://github.com/tier4/AutowareArchitectureProposal.proj/tree/main/docker

Also, Autoware.Auto has Dockerfile for ade.
https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/blob/master/tools/ade_image/Dockerfile

[kenji-miyake]

To be able to build not only autoware.universe but also the entire workspace including drivers, tools, and etc., I think it's better to put Dockerfile into the meta-repository.

So I'll wait for we'll set up https://github.com/autowarefoundation/autoware.

For example, we need CUDA, TensorRT, and PyTorch for Universe for now, even though they might be replaced by TVM in the future.
https://github.com/tier4/AutowareArchitectureProposal.proj/tree/main/ansible/roles

[kenji-miyake]

This Docker image can be used in the CI of autoware.universe. Currently, it uses ros:galactic, but since it doesn't have CUDA, the Perception packages are not built.

[kenji-miyake]

Implemented the first version in autowarefoundation/autoware#14.

[IshitaTakeshi]

I'd suggest some features to add:

• The execution procedure. How to launch autoware and play rosbag
• Mount files to the host environment. It should be easier to modify files on the host environment rather than on a container

[kenji-miyake]

The execution procedure. How to launch autoware and play rosbag

Will be covered by autowarefoundation/autoware-documentation#8.

Mount files to the host environment. It should be easier to modify files on the host environment rather than on a container

I wrote a document in this PR.
autowarefoundation/autoware#14

[IshitaTakeshi]

Thank you!