added Docker compose

docker-compose.yml

@@ -0,0 +1,36 @@
+services:
+  cpu:
+    image: moveit/moveit2:${DOCKER_IMAGE}
+    container_name: moveit2_container
+    privileged: true
+    network_mode: host
+    command: ["bash", "-c", "colcon build && source /ros2_ws/install/setup.bash && exec bash"]
+    volumes:
+      - ./:/ros2_ws
+      - /tmp/.X11-unix:/tmp/.X11-unix
+      - $XAUTHORITY:/root/.Xauthority
+    working_dir: /ros2_ws
+    environment:
+      QT_X11_NO_MITSHM: 1
+      DISPLAY: $DISPLAY
+  gpu:
+    image: moveit/moveit2:${DOCKER_IMAGE}
+    container_name: moveit2_container
+    privileged: true
+    network_mode: host
+    command: /bin/bash
+    deploy:
+      resources:
+        reservations:
+          devices:
+            - driver: nvidia
+              count: 1
+              capabilities: [gpu]
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix
+      - $XAUTHORITY:/root/.Xauthority
+    environment:
+      QT_X11_NO_MITSHM: 1
+      DISPLAY: $DISPLAY
+      NVIDIA_VISIBLE_DEVICES: all
+      NVIDIA_DRIVER_CAPABILITIES: all