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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.