Switch to ros:humble-desktop image with all build tools

ros:humble-ros-base is too minimal and missing many build dependencies
(rosidl, typesupport, etc). Using ros:humble-desktop image which includes
all necessary build tools and eliminates dependency issues.

Simplified installation instructions accordingly.

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.
+This starts a persistent container named `tinymovr_ros2` with Ubuntu + ROS 2 Humble Desktop (includes all build tools).
 
 #### 3. Enter Container and Build
 
@@ -123,14 +123,9 @@ docker exec -it tinymovr_ros2 bash
 
 # Inside container: Install dependencies
 apt update && apt install -y \
-  python3-pip \
-  python3-colcon-common-extensions \
-  python3-ament-package \
   iproute2 \
   ros-humble-ros2-control \
   ros-humble-ros2-controllers \
-  ros-humble-xacro \
-  ros-humble-robot-state-publisher \
   ros-humble-teleop-twist-keyboard
 
 # Build your robot package

docker-compose.yml

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

docker_run.sh

@@ -32,7 +32,7 @@ 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 python3-pip python3-colcon-common-extensions python3-ament-package iproute2 ros-humble-ros2-control ros-humble-ros2-controllers ros-humble-xacro ros-humble-robot-state-publisher ros-humble-teleop-twist-keyboard"
+echo "  apt update && apt install -y iproute2 ros-humble-ros2-control ros-humble-ros2-controllers ros-humble-teleop-twist-keyboard"
 echo "  cd /workspace"
 echo "  source /opt/ros/humble/setup.bash"
 echo "  colcon build --packages-select tinymovr_ros"