Adding dockerfiles for building tests

Signed-off-by: Aaron Chong <aaronchongth@gmail.com>

.github/minimal-nav2/Dockerfile

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+ARG ROS_DISTRO=jazzy
+FROM docker.io/ros:$ROS_DISTRO-ros-base
+
+RUN apt update && apt install -y  curl ros-$ROS_DISTRO-nav2-bringup ros-$ROS_DISTRO-rmw-cyclonedds-cpp
+
+RUN mkdir -p /tb3 && cd /tb3 \
+  && curl -sL https://github.com/ROBOTIS-GIT/turtlebot3_simulations/archive/refs/heads/master.tar.gz -o turtlebot3_simulations.tar.gz \
+  && mkdir -p /tb3/turtlebot3_simulations && tar zxf turtlebot3_simulations.tar.gz -C /tb3/turtlebot3_simulations --strip-components=1 && rm turtlebot3_simulations.tar.gz
+
+ENV RMW_IMPLEMENTATION rmw_cyclonedds_cpp
+ENV GAZEBO_MODEL_PATH "$GAZEBO_MODEL_PATH:/tb3/turtlebot3_simulations/turtlebot3_gazebo/models"
+
+RUN rm -rf \
+  /var/lib/apt/lists \
+  /dist
+
+# TODO(ac): set up proper parameter file
+ENTRYPOINT ["bash", "-c", ". /opt/ros/$ROS_DISTRO/setup.bash && ros2 launch nav2_bringup tb3_simulation_launch.py"]

.github/minimal-zenoh-bridge/Dockerfile

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+ARG ROS_DISTRO=jazzy
+FROM docker.io/ros:$ROS_DISTRO-ros-base
+ARG ZENOH_VERSION=0.11.0
+ARG BRANCH=efc/ci
+
+RUN apt update && apt install -y wget unzip ros-jazzy-rmw-cyclonedds-cpp
+
+RUN mkdir -p /zenoh-bridge && cd /zenoh-bridge \
+  && wget https://github.com/eclipse-zenoh/zenoh-plugin-ros2dds/releases/download/$ZENOH_VERSION/zenoh-plugin-ros2dds-$ZENOH_VERSION-x86_64-unknown-linux-gnu-standalone.zip \
+  && unzip zenoh-plugin-ros2dds-$ZENOH_VERSION-x86_64-unknown-linux-gnu-standalone.zip \
+  && rm zenoh-plugin-ros2dds-$ZENOH_VERSION-x86_64-unknown-linux-gnu-standalone.zip \
+  && wget https://github.com/open-rmf/free_fleet/archive/$BRANCH.tar.gz -o free_fleet.tar.gz \
+  && mkdir -p /zenoh-bridge/free_fleet && tar zxf free_fleet.tar.gz -C /zenoh-bridge/free_fleet --strip-components=1 \
+  && rm free_fleet.tar.gz
+
+ENV RMW_IMPLEMENTATION rmw_cyclonedds_cpp
+
+RUN rm -rf \
+  /var/lib/apt/lists \
+  /dist
+
+ENTRYPOINT ["bash", "-c", ". /opt/ros/$ROS_DISTRO/setup.bash && . /zenoh-bridge/zenoh-bridge-ros2dds -c /zenoh-brdige/free_fleet/free_fleet_examples/zenoh_configs/turtlebot3_1_zenoh_config.json5"]