Update Dockerfiles to support dynamic package installation and build type configuration

docker/jazzy/ros-iiwa7/Dockerfile

@@ -1,14 +1,21 @@
 FROM evilfisru/ros:jazzy-base-noble
+ARG BUILD_TYPE=release
 
 ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 
 RUN apt-get update && apt-get install -y --no-install-recommends \
-    ros-jazzy-rmw-cyclonedds-cpp \
+    ros-${ROS_DISTRO}-ros2-control \ 
+    ros-${ROS_DISTRO}-ros2-controllers \
+    ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
+    ros-${ROS_DISTRO}-moveit \
+    ros-${ROS_DISTRO}-moveit-py \
+    ros-${ROS_DISTRO}-ament-cmake-clang-format \
+    ros-${ROS_DISTRO}-rosbag2-storage-mcap \
     && rm -rf /var/lib/apt/lists/*
 
 WORKDIR /ros2_ws
 
-COPY src/ src/
+COPY src/iiwa_* src/
 
 RUN apt-get update && \
     rosdep install --from-paths src -i -r -y && \
@@ -17,6 +24,8 @@ RUN apt-get update && \
 RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
     colcon build --mixin release
 
+RUN if [ "$BUILD_TYPE" = "release" ]; then rm -rf src/ build/ log/; fi
+
 RUN echo ". /ros2_ws/install/setup.bash" >> /root/.bashrc
 
 CMD ["bash"]