Добавлена сборка контроллера

README.md

@@ -154,4 +154,10 @@ chmod +x doc/build_docs.sh
 ./build_docs.sh #Собирает статику в mkdocs/site/
 ./build_docs.sh build # То же самое явно
 ./build_docs.sh serve # Live-preview с авто-перезагрузкой
+```
+
+<!-- iiwa controller - docker -->
+<!-- Lightweight cobot -->
+```bash
+docker run -it --rm --network host evilfisru/lwa:jazzy-lwa7-noble
 ```

docker/jazzy/ros-iiwa7/Dockerfile

@@ -0,0 +1,22 @@
+FROM evilfisru/ros:jazzy-base-noble
+
+ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    ros-jazzy-rmw-cyclonedds-cpp \
+    && rm -rf /var/lib/apt/lists/*
+
+WORKDIR /ros2_ws
+
+COPY src/ src/
+
+RUN apt-get update && \
+    rosdep install --from-paths src -i -r -y && \
+    rm -rf /var/lib/apt/lists/*
+
+RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
+    colcon build --mixin release
+
+RUN echo ". /ros2_ws/install/setup.bash" >> /root/.bashrc
+
+CMD ["bash"]