Fix Docker setup with complete build dependencies

ros:humble-desktop doesn't exist for ARM64. Using ros:humble-ros-base
with complete list of required build packages:
- rosidl-typesupport-c/cpp for message type support
- rosidl-default-generators for code generation
- colcon and ament_package (via pip) for building

Co-Authored-By: Claude <noreply@anthropic.com>

Author: yconst

README.md

@@ -113,7 +113,7 @@ cd ~/Tinymovr-ROS  # Or wherever you cloned the repo
 ./docker_run.sh
 ```
 
-This starts a persistent container named `tinymovr_ros2` with Ubuntu + ROS 2 Humble Desktop (includes all build tools).
+This starts a persistent container named `tinymovr_ros2` with Ubuntu + ROS 2 Humble.
 
 #### 3. Enter Container and Build
 
@@ -123,11 +123,18 @@ docker exec -it tinymovr_ros2 bash
 
 # Inside container: Install dependencies
 apt update && apt install -y \
+  python3-pip \
+  python3-colcon-common-extensions \
   iproute2 \
+  ros-humble-rosidl-typesupport-c \
+  ros-humble-rosidl-typesupport-cpp \
+  ros-humble-rosidl-default-generators \
   ros-humble-ros2-control \
   ros-humble-ros2-controllers \
   ros-humble-teleop-twist-keyboard
 
+pip3 install ament_package
+
 # Build your robot package
 cd /workspace
 source /opt/ros/humble/setup.bash

docker-compose.yml

@@ -1,6 +1,6 @@
 services:
   ros2:
-    image: ros:humble-desktop
+    image: ros:humble-ros-base
     container_name: tinymovr_ros2
     privileged: true
     network_mode: host

docker_run.sh

@@ -32,7 +32,8 @@ echo "Container started. To enter the container:"
 echo "  docker exec -it tinymovr_ros2 bash"
 echo ""
 echo "Once inside, build and run your robot:"
-echo "  apt update && apt install -y iproute2 ros-humble-ros2-control ros-humble-ros2-controllers ros-humble-teleop-twist-keyboard"
+echo "  apt update && apt install -y python3-pip python3-colcon-common-extensions iproute2 ros-humble-rosidl-typesupport-c ros-humble-rosidl-typesupport-cpp ros-humble-rosidl-default-generators ros-humble-ros2-control ros-humble-ros2-controllers ros-humble-teleop-twist-keyboard"
+echo "  pip3 install ament_package"
 echo "  cd /workspace"
 echo "  source /opt/ros/humble/setup.bash"
 echo "  colcon build --packages-select tinymovr_ros"