Start of refactor - remove upstream code and just contain deltas

Dockerfile

@@ -0,0 +1,21 @@
+FROM ros:jazzy
+
+# Create the workspace and copy all source directories into it
+WORKDIR /ros2_ws
+COPY . /ros2_ws/src/
+
+# Install dependencies with rosdep
+RUN apt-get update && \
+    rosdep update && \
+    rosdep install --from-paths src --ignore-src -r -y && \
+    rm -rf /var/lib/apt/lists/*
+
+# Build the workspace with symlink install
+RUN . /opt/ros/jazzy/setup.sh && \
+    colcon build --symlink-install
+
+# Source the overlay on container startup
+RUN echo "source /opt/ros/jazzy/setup.bash" >> /root/.bashrc && \
+    echo "source /ros2_ws/install/setup.bash" >> /root/.bashrc
+
+CMD ["bash"]