Add Dockerfile and run script for Webots integration; update package dependencies

docker/jazzy/ros-iiwa7-webots/run.sh

@@ -0,0 +1,21 @@
+#!/bin/bash
+# Run the Webots container with X11 forwarding.
+# Usage:
+#   ./run.sh                          — interactive shell
+#   ./run.sh ros2 launch iiwa_bringup webots_spawn.launch.py ...
+
+IMAGE="${WEBOTS_IMAGE:-evilfisru/lwc:jazzy-webots}"
+
+# Allow local Docker processes to connect to the X server
+xhost +local:docker > /dev/null
+
+docker run -it --rm \
+    --name ros-webots \
+    --network host \
+    -e DISPLAY="${DISPLAY}" \
+    -e QT_X11_NO_MITSHM=1 \
+    -e LIBGL_ALWAYS_SOFTWARE=1 \
+    -e GALLIUM_DRIVER=llvmpipe \
+    -v /tmp/.X11-unix:/tmp/.X11-unix:rw \
+    "${IMAGE}" \
+    "$@"