# 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.