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resources/nav2-ros-bridge/Dockerfile

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+FROM ros:humble-ros-base
+
+WORKDIR /ros_bridge
+
+RUN apt-get update \
+ && apt-get install -y --no-install-recommends \
+    python3-pip \
+    ros-humble-nav2-msgs \
+ && rm -rf /var/lib/apt/lists/*
+
+COPY requirements.txt /ros_bridge/requirements.txt
+RUN pip3 install --no-cache-dir -r /ros_bridge/requirements.txt
+
+COPY bridge.py /ros_bridge/bridge.py
+
+CMD bash -c "source /opt/ros/humble/setup.bash && python3 /ros_bridge/bridge.py"

resources/nav2-ros-bridge/requirements.txt

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+fastapi>=0.110.0
+uvicorn[standard]>=0.29.0
+pydantic>=2.0.0