patch..

resources/nav2-dev-image/Dockerfile

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+FROM future-nav2:humble
+
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+
+ENV DEBIAN_FRONTEND=noninteractive \
+    ROS_DISTRO=humble \
+    TURTLEBOT3_MODEL=burger \
+    NAV2_WORKSPACE=/workspace/nav2-slam_ws
+
+# Nav2 and SLAM Toolbox are provided by the base image. Module workspaces may
+# override those packages with local sources, while Gazebo and TurtleBot3 are
+# added here for the source-based simulator modules.
+RUN apt-get update \
+    && apt-get install -y --no-install-recommends \
+        build-essential \
+        cmake \
+        git \
+        python3-argcomplete \
+        python3-colcon-common-extensions \
+        python3-rosdep \
+        python3-vcstool \
+        python3-pip \
+        ros-humble-gazebo-plugins \
+        ros-humble-gazebo-ros-pkgs \
+        ros-humble-turtlebot3-description \
+        ros-humble-turtlebot3-gazebo \
+        ros-humble-turtlebot3-msgs \
+        ros-humble-xacro \
+        ros-humble-tf-transformations \
+    && rm -rf /var/lib/apt/lists/* \
+    && rosdep init 2>/dev/null || true
+
+RUN rosdep update
+
+COPY docker-entrypoint.sh /usr/local/bin/studio-nav2-entrypoint
+RUN chmod +x /usr/local/bin/studio-nav2-entrypoint \
+    && mkdir -p "${NAV2_WORKSPACE}/src"
+
+WORKDIR /workspace
+ENTRYPOINT ["/usr/local/bin/studio-nav2-entrypoint"]
+CMD ["bash"]

resources/nav2-dev-image/README.md

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+# Nav2 Development Image
+
+`nav2-dev:humble` is the source-build runtime for Nav2 learning modules. It
+contains ROS 2 Humble, Gazebo, colcon, and rosdep, but intentionally does not
+contain Nav2, TurtleBot3, or SLAM Toolbox source code.
+
+Build it from this directory:
+
+```bash
+./build.sh
+```
+
+Mount a composed module workspace and build its sources:
+
+```bash
+docker run --rm -it --network host \
+  -e DISPLAY="$DISPLAY" \
+  -e TURTLEBOT3_MODEL=burger \
+  -v /tmp/.X11-unix:/tmp/.X11-unix \
+  -v "$HOME/autonomy-studio/workspaces/nav2-slam_ws:/workspace/nav2-slam_ws" \
+  nav2-dev:humble bash
+
+cd "$NAV2_WORKSPACE"
+rosdep install --from-paths src --ignore-src -r -y
+colcon build
+```
+
+The composed workspace must contain all direct source dependencies. For Nav2,
+include its shared packages such as `nav2_common`, `nav2_util`, and `nav2_msgs`
+alongside the module packages being built.
+
+On later container starts, the entrypoint automatically sources
+`/workspace/nav2-slam_ws/install/setup.bash`, so source-built packages override
+the base ROS installation.

resources/nav2-dev-image/build.sh

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+#!/usr/bin/env bash
+set -euo pipefail
+
+docker build -t nav2-dev:humble "$(cd "$(dirname "$0")" && pwd)"

resources/nav2-dev-image/docker-entrypoint.sh

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+#!/usr/bin/env bash
+set -e
+
+source "/opt/ros/${ROS_DISTRO}/setup.bash"
+
+# A prior colcon build takes precedence over apt packages when the workspace
+# is mounted. This makes source edits immediately available to ROS commands.
+if [[ -f "${NAV2_WORKSPACE}/install/setup.bash" ]]; then
+  source "${NAV2_WORKSPACE}/install/setup.bash"
+fi
+
+exec "$@"